ETS Series AC Servo User's Manual: Version V1.06

ETS Series AC Servo User's Manual
（Version：V1.06）
Revision History
Date Rev. No. Section Revised Content Remark
2014-12 V1.00 ~ V1.02 -- First edition
2015-09 V1.03 Appendix A Revision: Pn840.2
1.1.2 Revision: Servo drive Model Designation
Revision：6.3 MODBUS communication

Chapter 6
protocol
Revision：Pn006、Pn007、Pn105、Pn110、
Pn511、Pn523、Pn528、Pn681、Pn700、
Pn840
2015-11 V1.04 Deletion：ETS-101010APC
All chapter
Addition：/TCR
Addition：EMJ-A5APA、EMJ-01APA、
EMJ-02APC、EMJ-04APC、EMG-10APB、
EML-10APB
Appendix B Addition：A25、A26、A27
Appendix A Revision：Pn511、Pn700
2016-04 V1.05 4.4.2 Revision： Pn306、Pn307
4.7.1 Revision：diagram
Addition:17bit absolute encoder/20bit

All chapter
incremental encoder motors and drives
Addition: 4.4 Absolute Encoders

Chapter 4
Addition: 4.6.3 Setting the Electronic Gear
2017-05 V1.06
Addition: Pn009、Pn705~Pn710
Appendix A
Revision：Pn840
Addition: A43、A45~A48、A50~A56、A58、
Appendix B
A59
Copyright © 2014 ESTUN AUTOMATION TECHNOLOGY CO., LTD
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form,
or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of
ESTUN. No patent liability is assumed with respect to the use of the information contained herein.
-1-
About this manual
 This manual describes the following information required for designing and maintaining ETS series servo drives.
•Specification of the servo drives and servomotors.
•Procedures for installing the servo drives and servomotors.
•Procedures for wiring the servo drives and servomotors.
•Procedures for operating of the servo drives.
•Procedures for using the panel operator.
•Communication protocols.
•Ratings and characteristics.
 Intended Audience:
•Those designing ETS series servo drive systems.
•Those installing or wiring ETS series servo drives.
•Those performing trial operation or adjustments of ETS series servo drives.
•Those maintaining or inspecting ETS series servo drives.
-2-
Safety Precautions
■ Do not connect the servomotor directly to the local electrical network.
Failure to observe this may result in damage to servomotor.
■ Do not plug or unplug connectors from servo drivewhen power is on.
Failure to observe this may result in damage to servo drive and servomotor.
■Please note that even after power is removed, residual voltage still remains in the capacitor inside the servo drive. If
inspection is to be performed after power is removed, please wait 5 minutes to avoid risk of electrical shock.
■Keep servo drives and other devices separated by at least 10mm.
The servo drive generates heat. Install the servo drive so that it can radiate heat freely. When installing servo drives
with other devices in a control panel, provide at least 10mm space between them and 50mm space above and below
them.Please install servo drives in an environment free from condensation, vibration and shock.
■Perform noise reduction and grounding properly.
Please comply with the following instructions to avoid noise generated by signal lines.
1. Separate high-voltage cables from low-voltage cables.
2. Use cables as short as possible.
3. Single point grounding is required for the servomotor and servo drive (grounding resistance 100Ω or below).
4. Never use a line filter for the power supply in the circuit.
■Use a fast-response type ground-fault interrupter.
For a ground-fault interrupter, always use a fast-response type or one designed for PWM inverters. Do not use a
time-delay type.
■ Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the product due to unstable operation.
■The servomotor cannot be operated by turning the power on and off.
Frequently turning the power ON and OFF causes the internal circuit elements to deteriorate, resulting in unexpected
problems.Always start or stop the servomotor by using reference pulses.
-3-
—Contents—
About this manual ........................................................................................................................................................... - 2 -
Safety Precautions .......................................................................................................................................................... - 3 -
Chapter 1 ........................................................................................................................................................................ - 7 -
Checking Products and Parts Names ............................................................................................................................. - 7 -

1.1 Checking Products on Delivery ......................................................................................................................... - 7 -
1.1.1 Servomotor ............................................................................................................................................ - 7 -
1.1.2 Servo drive ............................................................................................................................................ - 9 -
1.2 Part Names ..................................................................................................................................................... - 11 -
1.2.1 Servomotor .......................................................................................................................................... - 11 -
1.2.2 Servo drive .......................................................................................................................................... - 11 -
Chapter 2 ...................................................................................................................................................................... - 13 -
Installation ..................................................................................................................................................................... - 13 -
2.1 Servomotor ..................................................................................................................................................... - 13 -
2.1.1 Storage ................................................................................................................................................ - 13 -
2.1.2 Installation Sites .................................................................................................................................. - 13 -
2.1.3 Installation Alignment ........................................................................................................................... - 14 -
2.1.4 Installation Orientation ......................................................................................................................... - 14 -
2.1.5 Handling Oil and Water ........................................................................................................................ - 14 -
2.1.6 Cable Tension ...................................................................................................................................... - 15 -
2.1.7Install to the Client ................................................................................................................................ - 15 -
2.2 Servo Drive ..................................................................................................................................................... - 15 -
2.2.1 Storage ................................................................................................................................................ - 15 -
2.2.2 Installation Sites .................................................................................................................................. - 15 -
2.2.3 Installation Orientation ......................................................................................................................... - 16 -
2.2.4 Installation Method .............................................................................................................................. - 16 -
Chapter 3 ...................................................................................................................................................................... - 18 -
Wiring ............................................................................................................................................................................ - 18 -
3.1 Main Circuit Wiring .......................................................................................................................................... - 18 -
3.1.1 Typical Main Circuit Wiring Examples .................................................................................................. - 19 -
3.1.2 Names and Functions of Main Circuit Terminals .................................................................................. - 21 -
3.2 I/O Signals ...................................................................................................................................................... - 22 -
3.2.1 Examples of I/O Signal Connections ................................................................................................... - 22 -
3.2.2 I/O Signal Connector (CN1_A/CN1_B/CN1_C) Terminal Layout......................................................... - 23 -
3.2.3 I/O Signal Names and Functions ......................................................................................................... - 25 -
3.2.4 Interface Circuit ................................................................................................................................... - 26 -
3.3 Wiring Encoders.............................................................................................................................................. - 27 -
3.3.1 Connecting an Encoder(CN2_A/ CN2_B/ CN2_C) .............................................................................. - 27 -
3.3.2 Encoder Connector(CN2_A/ CN2_B/ CN2_C) Terminal Layout .......................................................... - 28 -
3.4 Communication Connection（CN3/CN4） ..................................................................................................... - 28 -
3.5 Standard Wiring Example ............................................................................................................................... - 29 -
3.6 Wiring for Noise Control .................................................................................................................................. - 33 -
3.6.1 Noise Control ....................................................................................................................................... - 33 -
3.6.2 Precautions on Connecting Noise Filter .............................................................................................. - 34 -
-4-
Chapter 4 ...................................................................................................................................................................... - 37 -
Operation ...................................................................................................................................................................... - 37 -
4.1 Trial Operation ................................................................................................................................................ - 37 -
4.1.1 Trial Operation for Servomotor Without Load ...................................................................................... - 39 -
4.1.2 Trial Operation for Servomotor without Load from Host Reference ..................................................... - 41 -
4.1.3 I/O JOG control .................................................................................................................................... - 43 -
4.1.4 Trial Operation with the Servomotor Connected to the Machine.......................................................... - 43 -
4.1.5 Trial Operation for Servomotor with Brakes ......................................................................................... - 45 -
4.2 Control Mode Selection................................................................................................................................... - 45 -
4.3 Setting Common Basic Functions ................................................................................................................... - 46 -
4.3.1 Setting the Servo ON Signal ................................................................................................................ - 46 -
4.3.2 Switching the Servomotor Rotation Direction ...................................................................................... - 47 -
4.3.3 Setting the Overtravel Limit Function ................................................................................................... - 48 -
4.3.4 Setting for Holding Brakes ................................................................................................................... - 51 -
4.4 Absolute Encoders .......................................................................................................................................... - 54 -
4.4.1 Selecting an Absolute Encoder ............................................................................................................ - 55 -
4.4.2 Handling Battery .................................................................................................................................. - 56 -
4.4.3 Replacing Battery ................................................................................................................................ - 57 -
4.4.4 Absolute Encoder Setup(Fn010、Fn011) ............................................................................................ - 57 -
4.5 Operating Using Speed Control with Internally Set Speed .............................................................................. - 57 -
4.5.1 Setting Parameters .............................................................................................................................. - 57 -
4.5.2 Soft Start.............................................................................................................................................. - 58 -
4.5.3 Speed Reference Filter Time Constant ................................................................................................ - 58 -
4.5.4 S-curve Risetime ................................................................................................................................. - 59 -
4.5.5 Encoder Signal Output ........................................................................................................................ - 59 -
4.5.6 Speed coincidence output ................................................................................................................... - 61 -
4.5.7 Speed control(contact reference) ........................................................................................................ - 62 -
4.6 Operating Using Position Control .................................................................................................................... - 64 -
4.6.1 Basic Setting in Position Control.......................................................................................................... - 64 -
4.6.2 Setting the Clear Signal ....................................................................................................................... - 66 -
4.6.3 Setting the Electronic Gear .................................................................................................................. - 66 -
4.6.4 Smoothing ........................................................................................................................................... - 70 -
4.6.5 Low Frequency Vibration Suppression ................................................................................................ - 71 -
4.6.6 Positioning Completion Output Signal ................................................................................................. - 73 -
4.6.7 Reference Pulse Inhibit Function(INHIBIT) .......................................................................................... - 74 -
4.6.8 Position Control (contact reference) .................................................................................................... - 75 -
4.7 Limiting Torque................................................................................................................................................ - 78 -
4.7.1 Internal Torque Limit ............................................................................................................................ - 78 -
4.7.2 External Torque Limit ........................................................................................................................... - 79 -
4.8 Other Output Signals ...................................................................................................................................... - 80 -
4.8.1 Servo alarm output .............................................................................................................................. - 80 -
4.8.2 Others .................................................................................................................................................. - 80 -
4.9 Online Autotuning............................................................................................................................................ - 82 -
4.9.1 Online Autotuning ................................................................................................................................ - 82 -
4.9.2 Online Autotuning Procedure ............................................................................................................... - 82 -
4.9.3 Setting Online Autotuning .................................................................................................................... - 83 -
-5-
4.9.4 Machine Rigidity Setting for Online Autotuning .................................................................................... - 84 -

4.10 Internal Homing Function .............................................................................................................................. - 85 -
Chapter 5 ...................................................................................................................................................................... - 88 -
Panel Operator .............................................................................................................................................................. - 88 -

5.1 Basic Operation .............................................................................................................................................. - 88 -
5.1.1 Functions on Panel Operator ............................................................................................................... - 88 -
5.1.2 Switchthe number of Axis .................................................................................................................... - 88 -
5.1.3 Basic Mode Selection .......................................................................................................................... - 89 -
5.1.4 Status Display Mode ............................................................................................................................ - 89 -
5.1.5 Operation in Parameter Setting Mode ................................................................................................. - 91 -
5.1.6 Operation in Monitor Mode .................................................................................................................. - 92 -
5.2 Operation in Utility Function Mode .................................................................................................................. - 95 -
5.2.1 Alarm Traceback Data Display............................................................................................................. - 95 -
5.2.2 Parameter Settings Initialization .......................................................................................................... - 96 -
5.2.3 Operation in JOG Mode ....................................................................................................................... - 97 -
5.2.4 Offset-adjustment of Servomotor Current Detection Signal ................................................................. - 98 -
5.2.5 Software Version Display ................................................................................................................... - 100 -
5.2.6 Position Teaching Function ................................................................................................................ - 100 -
5.2.7 Static Inertia Detection ...................................................................................................................... - 100 -
5.2.8 Parameters Copy ............................................................................................................................... - 101 -
Chapter 6 .................................................................................................................................................................... - 102 -
MODBUS Communication........................................................................................................................................... - 102 -

6.1 RS-485 Communication Wiring ..................................................................................................................... - 102 -
6.2 MODBUS Communication Related Parameters ........................................................................................... - 103 -
6.3 MODBUS Communication Protocol .............................................................................................................. - 104 -
6.3.1 Code Meaning ................................................................................................................................... - 104 -
6.3.2 Communication Error Disposal .......................................................................................................... - 110 -
6.3.3 Data Communication Address of Servo State.................................................................................... - 111 -
Chapter 7 .................................................................................................................................................................... - 113 -
Specifications and Characters..................................................................................................................................... - 113 -

7.1 Servo drive Specifications and Models ......................................................................................................... - 113 -
7.2 Servo drive Dimensional Drawings ............................................................................................................... - 115 -
Appendix A .................................................................................................................................................................. - 116 -
Parameter ................................................................................................................................................................... - 116 -

A.1 Parameter List .............................................................................................................................................. - 116 -
A.2 Description of Parameter Type ..................................................................................................................... - 122 -
A.3 Parameters in detail...................................................................................................................................... - 123 -
Appendix B .................................................................................................................................................................. - 140 -
Alarm Display .............................................................................................................................................................. - 140 -
-6-
Chapter 1
Checking Products and Parts Names
1.1 Checking Products on Delivery
Check Items Comments

Are the delivered products theones that Check the model numbers marked on the nameplate on
were ordered? theservomotor and servo drive.
Check the overall appearance, and check for damage or scratches
Is there any damage?
that may have occurred during shipping.
If the servomotor shaft can be easily rotated by hand, then the motor
Does the servomotor shaft rotatesmoothly? is working normally. However, if a brake is installed on the
servomotor, then it cannot be turned by hand.
If any of the above items are faulty or incorrect, contact your ESTUN representative or the dealer from whom you
purchased the products.
1.1.1 Servomotor
 Servomotor Model Designation
EMJ– 08 A P B 1 1 -WR
ESTUN Servomotor
【1+2】【3】【4】【5】【6】【7】【8+9】
EMJ Model
【1+2】
【4】Encoder 【7】Option
Rated Output
Code Spec. Code Spec. Code Spec.
Incremental Wire-saving Type：
A5 0.05kW P 1 None
2500P/R
01 0.1kW F Incremental encoder：1048576P/R 2 With oil seal
02 0.2kW S Absolute encoder：131072P/R 3 With brake (DC24V)
04 0.4kW 【5】Designing Sequence 4 With oil seal and brake(DC24V)
08 0.75kW Code Spec. 带制动器(DC24V)
【8+9】Connector
10 1.0kW A Designing sequence A Code Spec.
B Designing sequence B Standard connector
Water proof connector (Incremental

WR
【3】Voltage 【6】Shaft End Wire-saving Type)
Code Spec. Code Spec.

A 200VAC 1 Straigt without key （Standard）
200V 2 Straigt with key and tap
-7-
EMG– 10 A F A 1 1
ESTUN Servomotor
【1+2】【3】【4】【5】【6】【7】
EMG Model
【1+2】
Rated Output
10 1.0kW P Incremental Wire-saving Type：2500P/R 1 None

F Incremental encoder：1048576P/R 2 With oil seal
S Absolute encoder：131072P/R 3 With brake (DC24V)
4 With oil seal and brake(DC24V)
带制动器(DC24V)
【3】Voltage 【5】Designing Sequence 【6】Shaft End

A 200VAC A Designing sequence A 1 Straigt without key （Standard）
B Designing sequence B 2 Straigt with key and tap
EML– 10 A F A 1 1
ESTUN Servomotor
【1+2】【3】【4】【5】【6】【7】
EML Model
【1+2】
Rated Output
10 1.0kW P Incremental Wire-saving Type:2500P/R 1 None

F Incremental encoder：1048576P/R 2 With oil seal
S Absolute encoder：131072P/R 3 With brake (DC24V)
4 With oil seal and brake(DC24V)
【3】Voltage 【5】Designing Sequence 【6】Shaft带制动器(DC24V)

End
A 200VAC A Designing sequence A 1 Straigt without key （Standard）
B Designing sequence B 2 Straigt with key and tap
-8-
 Appearance and Nameplate
1.1.2 Servo drive
 Servo Drive Appearanceand Nameplate
-9-
 Servo drive Model Designation
ETS –10 10 A P C– CAN

Communication
ETS model servo drive
CAN：CAN model
B axis Rated Output

Encoder Interface
C: Wire-saving incremental
encoder (2500P/R)
A axis Rated Output G: 17/20 bit serial encoder
(Automatic identification)
Voltage Version
A：200VAC P：Position control
Notes：Each axis of ETS servo drive equips 50W、100W、200W、400W、750W、1.0kW servo motor,

and assures three times overload capacity.
ETS–101010AP C– CAN
Communication
ETS model servo drive
CAN：CAN model
None：Pulse model
C axis Rated Output Encoder Interface
C: Wire-saving incremental
encoder (2500P/R)
G: 17/20 bit serial encoder
B axis Rated Output (Automatic identification)
Version
P：Position control
A axis Rated Output Voltage

A：200VAC
Notes：Each axis of ETS servo drive equips 50W、100W、200W、400W、750W、1.0kW servo motor,

and assures three times overload capacity.
- 10 -
1.2 Part Names
1.2.1 Servomotor
Servomotor without gear and brake.
Encoder
Mounting hole
Shell
Output shaft
Flange
1.2.2 Servo drive
 ETS two-axis servo drive
Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit
power supply capacitor remains charged.
Main circuit power supply terminals Connector for communication
Used for main circuit power supply input. Used to communicate with other devices.
Control power supply terminals
Used for control power supply input Encoder connector
Regenerative resistor connecting terminals Connects to the encoder in the
Used to connect external regenerative servomotor.
resistors.
I/O signal connector

Servomotor terminals Used for reference input signals
Connects to the servomotor power line. and sequence I/O signals.
Ground terminal
Be sure to connect to protect electric shock.
- 11 -
 ETS three-axis servo drive
Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit
power supply capacitor remains charged.
Main circuit power supply terminals Connector for communication
Used for main circuit power supply input. Used to communicate with other devices.
Control power supply terminals
Used for control power supply input Encoder connector
Regenerative resistor connecting terminals Connects to the encoder in the
Used to connect external regenerative servomotor.
resistors.
I/O signal connector

Servomotor terminals Used for reference input signals
Connects to the servomotor power line. and sequence I/O signals.
Ground terminal
Be sure to connect to protect electric shock.
- 12 -
Chapter 2
Installation
2.1 Servomotor
Servomotor can be installed either horizontally or vertically. However, if the servomotor is installed incorrectly, the
service life of the servomotor will be shortened or unexpected problems may occur.
Please observe the installation instructions described below to install the servomotor correctly.
Before installation:
Anticorrosive paint is coated on the edge of the servomotor shaft. Clean off the anticorrosive paint thoroughly using
a cloth moistened with thinner.
Avoid getting thinner on other parts of the servomotor when cleaning the shaft.
Anticorrosive paint
2.1.1 Storage
When the servomotor is not being used, store it in an area with a temperature between -20℃ and 60℃ with thepower
cable disconnected.
2.1.2 Installation Sites
The servomotor is designed for indoor use.Install the servomotor in an environment which meets the following
conditions.
 Free from corrosive and explosive gases.
 Well-ventilated and free from dust and moisture.
 Ambient temperature from0 to 40℃.
 Relative humidity from 26% to 80%( non-condensing).
 Facilitates inspection and cleaning.
- 13 -
2.1.3 Installation Alignment
Align the shaft of the servomotor with that of the machinery shaft to be controlled. Then connect the two shafts with
an elastic coupling.
Install the servomotor so that alignment accurancy falls within the range shown below.
Measure this distance at four different positions in the circumference. The difference between the maximum and
minimum measurements must be 0.03mm or less.(Turn together with couplings.)
Note:
·If the alignment accurancy is incorrect , vibration will occur, resulting in damage to the bearings.
·Mechanical shock to the shaft end is forbidden, otherwise it may result in damage to the encoder of the servomotor.
2.1.4 Installation Orientation
Servomotor can be installed ethier horizontally or vertically.
2.1.5 Handling Oil and Water
If the servomotor is used in a location that is subject to water or oil drops, make sure of the servomotor protective
specification. If the servomotor is required to meet the protective specification to the through shaft section by default,
use a servomotor with an oil seal.
Through shaft section:

It refers to the gap where the shaft protrudes from the end of the servomotor.
Through Shaft Section
- 14 -
2.1.6 Cable Tension
When connecting the cables, the bending radius should not be too small, do not bend or apply tension to cables.
Since the conductor of a signal cable is very thin (0.2 mm or 0.3 mm), handle it with adequate care.
2.1.7Install to the Client
When the servo motor is mounted to the client,please firmly secure the servo motor by the screws with backing ring
as shown in the figure.
In
or stall
ien at
tat ion
io
n
2.2 Servo Drive
ETS series servo drive is a base-mounted type. Incorrect installation will cause problems. Always observe the
installation instructions described below.
2.2.1 Storage
When the servomotor is not being used, store it in an area with a temperature between -20℃ and 85℃ with the
power cable disconnected.
2.2.2 Installation Sites
Notes on installation are shown below.

Situation Notes on installation
When installed in a control Design the control panel size, unit layout, and cooling method so that the temperature
panel around the periphery of the servo drive does not exceed 55℃.
Suppress radiation heat from the heating unit and a temperature rise caused by
When installed near a
convection so that the temperature around the periphery of the servo drive does not
heating unit
exceed 55℃.
When installed near a
Install a vibration isolator underneath the servo drive to prevent it from receiving vibration.
source of vibration
When installed in a location Take appropriate action to prevent corrosive gases. Corrosive gases do not immediately
subject to corrosive gases affect the servo drive, but will eventually cause contactor-related devices to malfunction.
Avoid installation in a hot and humid site or where excessive dust or iron powder is
Others
present in the air.
- 15 -
2.2.3 Installation Orientation
Install the servo drive perpendicular to the wall as shown in the figure. The servo drive must be oriented this way
because it is designed to be cooled by natural convection or a cooling fan if required. Firmly secure the servo drive
through two mounting holes.
Wall
Ventilation
2.2.4 Installation Method
When installing multiple servo drives side by side in a control panel, observe the following installation method.
■Installation Orientation
Install servo drive perpendicular to the wall so that the front panel (containing connectors) faces outward.
■Cooling
Provide sufficient space around each servo drive to allow cooling by natural convection or fans.
■Installing side by side
When installing servo drives side by side, provide at least 30mm space from the cabinet,at least 10mm space
- 16 -
between each individual servo drive and at least 50mm space above and below each one as well as shown in the figure
above. Ensure the temperature inside the control panel is evenly distributed, and prevent the temperature around each
servo drive from increasing excessively. Install cooling fans above the servo drives if necessary.
■Working conditions
1.Temperature：0~ 55℃
2.Humidity：90%RH or less (no condensation)
3.Vibration：4.9m/s2 or less
4.Ambient temperature to ensure long-term reliability:45℃ or less
- 17 -
Chapter 3
Wiring
3.1 Main Circuit Wiring
Please observe the following instructions while wiring the main circuit.
！CAUTION
·Do not bundle or run power and signal lines together in the same duct. Keep power andsignallines
separated by at least 300 mm.
·Use twisted-pair shielded wires or multi-core twisted-pair shielded wires for signal and encoder feedback
lines.
·The maximum length is 3 m for reference input lines and 20 m for encoder feedback lines.
·Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still
remain in the servo drive.
- 18 -
3.1.1 Typical Main Circuit Wiring Examples
 ETS-101010APC-CAN/ETS-1010APC-CAN
Three-phase +10%
AC200~230 -15%
50/60Hz
Molded-case
Circuit Breaker
Surge
Protector
Noise Filter
1RY PL
ON 1MC
OFF 1MC 1RY
Magnetic Contactor Surge suppressor

A(1) Servo motor
U_A B(2)
1MC
L1 V_A C(3) MA
1MC W_A D(4)
L2 FG
1MC Incremental Wire-saving
L3 Encoder(2500P/R)
1 A+
CN2_A 2 A- Encoder
FG 3 B+
4 B-
L1C 5 C+
PGA
6 C-
L2C
7,8,9 PG5V
17,18,19 PG0V
Be sure to prepare the end of

the shielded wire properly
A(1) Servo motor
U_B B(2)
V_B C(3) MB
External B1
Regenerative
B1 W_B D(4)
Resistor B2 FG
B2 Incremental Wire-saving
B3 Encoder(2500P/R)
B3 1 A+
CN2_B 2 A-
3 B+
4 B-
5 C+
PGB
6 C-
7,8,9 PG5V
17,18,19 PG0V

A(1) Servo motor
U_C B(2)
V_C C(3) MC
W_C D(4)
FG
Incremental Wire-saving
Encoder(2500P/R)
1 A+
CN2_C 2 A- Encoder
3 B+
4 B-
5 C+
PGC
6 C-
7,8,9 PG5V
17,18,19 PG0V

Note :The wiring of ETS two-axis servo drive does not include the gray part of graph.
- 19 -
 ETS-101010APG-CAN/ETS-1010APG-CAN
Three-phase +10%
AC200~230 -15%
50/60Hz
Molded-case
Circuit Breaker
Surge
Protector
Noise Filter
1RY PL
ON 1MC
OFF 1MC 1RY
Magnetic Contactor Surge suppressor

A(1) Servo motor
U_A B(2)
1MC
L1 V_A C(3) MA
1MC W_A D(4)
L2 FG
1MC
L3 Serial Encoder
7 S+
FG CN2_A 8 S- Encoder
17 BAT+
L1C
18 BAT- PGA
L2C 5 PG5V
9 PG0V
19 Shield

A(1) Servo motor
U_B B(2)
V_B C(3) MB
External B1
Regenerative
B1 W_B D(4)
Resistor B2 FG
B2
B3
B3 Serial Encoder
7 S+
8 S- Encoder
CN2_B 17 BAT+
18 BAT- PGA
5 PG5V
9 PG0V
19 Shield

A(1) Servo motor
U_C B(2)
V_C C(3) MC
W_C D(4)
FG
Serial Encoder
7 S+
8 S- Encoder
CN2_C
17 BAT+
18 BAT- PGA
5 PG5V
9 PG0V
19 Shield

- 20 -
3.1.2 Names and Functions of Main Circuit Terminals
Terminal
Name Functions
Symbol
Main circuit
L1，L2，L3 power supply Three-phase 200～230VAC +10%～-15% (50/60Hz)
input terminal
Axis A servomotor
U_A，V_A，
connection Connect to the axis A servomotor.
W_A
terminals
Axis B servomotor
U_B，V_B，
connection Connect to the axis B servomotor.
W_B
terminals
Axis C servomotor
U_C，V_C，
connection Connect to the axis C servomotor.
W_C
terminals
Control circuit
L1C，L2C power supply Single-phase 200～230VAC +10%～-15% (50/60Hz)
input terminal
Ground terminals Connects to the power supply ground terminals and servomotor ground terminal.
External If using an internal regenerative resistor, please short B2 and B3. Remove the wire
regenerative between B2 and B3 and connect an external regenerative resistor(provided by
B1，B2，B3
resistor connection customer) between B1 and B2, if the capacity of the internal regenerative resistor is
terminal insufficient.
- 21 -
3.2 I/O Signals
3.2.1 Examples of I/O Signal Connections
CN1_A
34
PAO
P represent multi-twisted 35
pair wire /PAO
Power supply for open collector 23 2KΩ
reference PL1
25 150Ω 32
PULS PULS PBO
P /PULS 24 33 PG dividing
/PBO ratio output
Position reference
reference PL2
150Ω 30 PCO
SIGN 27
SIGN
P /SIGN 26 31
/PCO
Servo ON 36
SG
(When ON Servo function DICOM 3.3KΩ 18
+ 9
enabled) +24V - /S-ON ~
P Control 10
(When ON, P control
enabled) /P-CON
Forward rotation 11 ~
8
prohibited /COIN+
(When OFF, forward rotation ~ 7
P-OT ~ /COIN- /COIN Positioning complete
prohibited) 12
(/V-CMP Speed coincident )
Reverse rotation
/TGON Rotation Detection
prohibited
N-OT 13 ~ /S-RDY Servo Ready
(When OFF, reverse rotation
2 /CLT Torque limit Detection
prohibited) /TGON+ /BR Brake interlock
Alarm reset ~ 1 *
/ALM-RST ~ /TGON- * PGC Encoder C pulse output
(When ON, alarm reset) 14
OT Over travel
Clear signal input
/RD Servo enabled motor
(When ON, displacement
/CLR ~ excitation
clears) 15 6
Forward external torque /S-RDY+ /HOME Home completion
~ 5
limit /PCL /S-RDY- /TCR Torque Detection
(When ON, limit enabled) 16 ~
Reverse external torque
limit /NCL
~
+24V
17
(When ON, limit enable) 4 Alarm output
ALM+
0V (When Alarm triggered,OFF)
~ 3 ALM-
Photocoupler output
Max.applicable Voltage:DC30V
Max.applicable Current:DC50mA
Connector frame
FG * Specific pins output can be defined
Sheild wires connect to the connector frame
Note: The wirings of CN1_A、CN1_B、CN1_C are the same.
- 22 -
3.2.2 I/O Signal Connector (CN1_A/CN1_B/CN1_C) Terminal Layout
Terminal No. Name Function

(*) 0：/COIN(/VCMP) 0：Positioning completion (speed agree detection)
1 1：/TGON 1：Running signal output
2 2：/S-RDY 2：Servo ready
(*) 3：/CLT 3：Torque limit output
5 4：/BK 4：Brake interlock output
6 5：PGC 5：C pulse output
6：OT 6：Over travel signal output
(*)
7：/RD 7：Servo enabled motor excitation output
7
8：/HOME 8：Home completion output
8
9：/TCR 9: Torque detection output
3 ALM-
Servo alarm:Turns off when an error is detected.
4 ALM+
Control power supply input for I/O signals:
9 DICOM
Provide the +24V DC power supply
(*) 0：Servo ON
10 0：/S-ON 1：P/PI control input
11 1：/P-CON 2：Forward run prohibited
12 2：P-OT 3：Reverse run prohibited
13 3：N-OT 4：Alarm reset
4：/ALM-RST 5：Position error pulseclear input
5：/CLR 6：Forward torque limitinput
6：/PCL 7：Reverse torque limitinput
7：/NCL 8：External switch gain switching
(*)
8：/G-SEL 9：Position control （contact reference）-forward direction
14
9：/JDPOS-JOG+ JOG
15
A：/JDPOS-JOG- A：Position control（contact reference）-reverse direction
16
B：/JDPOS-HALT JOG
17
C：Reserved B：Position control （contact reference）-stop JOG
D：SHOME C：Reserved
E：ORG(ZPS) D：Hometrigger
E：Zero position
23 PPIP
Power supply input for open collector reference
28 PPIS
24 PULS-
Pulse signal
25 PULS+
26 SIGN-
Direction signal
27 SIGN+
30 PCO+
Phase-C signal
31 PCO-
32 PBO+
Phase-B signal
33 PBO-
- 23 -

34 PAO+
Phase-A signal
35 PAO-
18，36 DGND DGND
Shell FG FG
Notes：
1.The list of CN1_A、CN1_B、CN1_C about I/O Signal Names and Functions are the same.
2.(*)The signals of CN1_A/B/C-1、2，CN1_A/B/C-5、6，CN1_A/B/C-7、8 can be modified by Pn511；
(*)The signals of CN1_A/B/C-10、11、12、13 can be modified by Pn509；
(*)The signals of CN1_A/B/C-14、15、16、17 can be modified by Pn510；
Please refer to A.3 Parameters in details for detailed information.
Notes ：
1. Spare terminals can not be used for relay purpose.
2. Connect shielded cable wires of I/O signals to connector shell(frame grounding).
- 24 -
3.2.3 I/O Signal Names and Functions
Terminal
Name Function
No.
DICOM 9 Control power supply input for I/O signals: Provide the +24V DC power supply
/S-ON 10 Servo ON:Turns the servomotor on.

It has deferent means depends on deferent
/P-CON 11
control mode.
P-OT 12 Forward run prohibited
N-OT 13 Reverse run prohibited The function of I/O are default，it can be
/ALM-RST 14 Alarm reset: Releases the servo alarm state. changed by setting parameters.
Positional error pulse clear input: Clear the
/CLR 15
positional error pulse during position control.
/PCL 16 Forward external torque limit
/NCL 17 Reverse external torque limit
PPIP 23 Power supply input for open collector reference(pulse)
PPIS 28 Power supply input for open collector reference(direction)
PULS- 24
Pulse reference input mode：
PULS+ 25 Reference pulse input Sign + pulse train
SIGN- 26 Reference sign input CCW + CW pulse
Two-phase pulse
SIGN+ 27
/COIN-
7 Positioning completion(Speed coincidence):
（/V-CMP-）
Turns ON when the number of positional error
/COIN+ pulses reaches the value set.
8
（/V-CMP+）
The function of I/O are default，it can be
Motor rotation detection: when the servomotor
/TGON- 1
is rotating at a speed higher than the motor changed by setting parameters.
/TGON+ 2 speed setting.
Servo ready:
/S-RDY- 5
ON if there is no servo alarm when the
/S-RDY+ 6 control/main circuit power supply is turned ON.
ALM- 3 Servo alarm:
ALM+ 4 Turns off when an error is detected.
PAO+ 34
Phase-A signal
PAO- 35 Converted two-phase pulse(phases A
PBO+ 32 and B) encoder output.
Phase-B signal
PBO- 33
PCO+ 30
Phase-C signal Zero-point pulse(Phase-C) signal
PCO- 31
GND 18,36 GND
FG Shell Connect frame to ground if the shield wire of the I/O signal cable is connected to the
- 25 -
connector shell.
3.2.4 Interface Circuit
This section shows examples of servo drive I/O signal connection to the host controller.
■Interface for input circuit
The input circuit interface connects through a relay or open-collector transistor circuit.Select a low-current relay otherwise
a faulty contact will result.
Servodrive Servodrive
DC24V DC24V
+24VIN 50mA min. 3.3KΩ
50mA min. 3.3KΩ +24VIN
/S-ON,etc. /S-ON,etc.
■Interface for encoder and servo drive output circuits
The amount of two-phase (phase A and phase B) pulse output signals (PAO,/PAO,PBO,/PBO) and zero-point pulse
signals(PCO,/PCO) are output via line-driver output circuits.Normally, the servo drive uses this output circuit in speed
control to comprise the position control system at the host controller. Connect the line-driver output circuit through a line
receiver circuit at the host controller.
■Interface for sequence output circuit

Photo-coupling isolation output is required for output signals of servo alarm, positioning complete and brake interlock.
DC5V~24V
Relay
Servo drive side
0V
Note:
Maximum voltage should be no more than 30VDC, and maximum current should be no more than 50mA.
- 26 -
3.3 Wiring Encoders
3.3.1 Connecting an Encoder(CN2_A/ CN2_B/ CN2_C)
Wire-saving Incremental
Encoder Servodrive Host controller
*
CN2_A/B/C CN1_A/B/C
*
1(A) PA 2-1
Phase-A 1-34 PAO
2(B) P /PA 2-2
1-35 /PAO P
3(C) PB 2-3
4(D) P /PB 2-4 Phase-B 1-32 PBO
5(E) PC 2-5
1-33 /PBO P
6(F) P /PC 2-6
Phase-C 1-30 PCO
1-31 /PCO P
PG
Applicable line-
receiver SN75175
manufactured by TI
or the equivalent.
7(H) 2-7、2-8、2-9
PG5V
8(G) 2-17、2-18、2-19
PG0V
1-18 SG
0V 0V
1-36
FG Connector shell
9(J)
Connector shell
（Shell）
shielded wires
* P Represents multi-core twisted pair shielded wires.
Incremental/Absolute Encoders Servodrive Host controller
*
CN2 CN1
*
K(1) PS 7
Phase-A 20 PAO
L(2) P /PS 8
21 /PAO P
T(3) BAT+ 17
S(4) P BAT- 18 Phase-B 22 PBO
23 /PBO P
Phase-C 24 PCO
25 /PCO P
PG
Output line driver
AM26LS31 manufactured
by TI or the equivalent. Applicable line-
receiver SN75175
manufactured by TI
or the equivalent.
H(5) PG5V 9
G(6) PG0V 19
50 DGND
0V 0V
J(7) FG Connector shell

shielded wires Connector shell
（Shell）
* P
Represents multi-core twisted pair shielded wires.
Note: (1)BAT+ and BAT- signals are not used when using an incremental encoder .
(2)The pin numbers for the connector wiring differ depending on the servomotors .
- 27 -
3.3.2 Encoder Connector(CN2_A/ CN2_B/ CN2_C) Terminal Layout
Terminal
Name Function
No.
PA+ 1 PG input phase A+
PA- 2 PG input phase A-
PB+ 3 PG input phase B+
PB- 4 PG input phase B-
PC+ 5 PG input phase C+
PC- 6 PG input phase C-
PG5V 7、8、9 PG power supply +5V
GND 17、18、19 PG power supply 0V
Connect frame to ground if the shield wire of the

FG Shell
PG signal cable is connected to the connector shell.
Terminal No. Name Function Terminal No. Name Function
Battery(+)
7 PS PG serial signal input 17 BAT+
(For an absolute encoder)
Battery(-)
8 /PS PG serial signal input 18 BAT-
(For an absolute encoder)
9 PG5V PG power supply +5V 19 GND PG power supply 0V
3.4 Communication Connection（CN3/CN4）

1 —
Reserved
2 —
3 485+ RS-485 communication terminal
4 ISO_GND
Isolated ground
5 ISO_GND
6 485- RS-485 communication terminal
7 CANH CAN communication terminal
8 CANL CAN communication terminal
Note: Do not short terminal 1 and 2.
- 28 -
3.5 Standard Wiring Example
+10%
Three-phase AC200~230 50/60Hz -15%
Molded-case Curcuit Breaker
Surge
Protector
Noise Filter
1RY PL
ON 1MC
OFF 1MC 1RY
Magnetic Contactor
A(1) Servo motor
U_A B(2)
1MC
L1 V_A C(3) MA
1MC W_A D(4)
L2 FG
1MC CN2_AWire-saving Encoder
L3
1 A+
2 A- Encoder
FG 3 B+
4 B-
L1C 5 C+
PGA
6 C-
L2C
7,8,9 PG5V
17,18,19 PG0V
ETS Servo Drive
A(1) Servo motor

U_B B(2)
V_B C(3) MB
B1
B1 W_B D(4)
B2 FG
B2
External Regenerator Resistor B3 CN2_BWire-saving Encoder
B3 1 A+
2 A- Encoder
3 B+
4 B-
5 C+
PGB
CN1_A 6 C-
7,8,9 PG5V
17,18,19 PG0V
A(1) Servo motor

CN1_B U_C B(2)
V_C C(3) MC
W_C D(4)
FG
CN2_CWire-saving Encoder
1 A+
2 A-
Encoder
CN1_C 3 B+
4 B-
5 C+
PGC
6 C-
7,8,9 PG5V
17,18,19 PG0V
CN3
CN4
Shell
FG
Connect Shield to Connector Shell
- 29 -
CN1_A、CN1_B、CN1_C:
CN1_A/B/C
34
PAO
pair wire /PAO
reference PL1
25 150Ω 32
PULS PULS PBO
/PBO ratio output
Position reference
reference PL2
150Ω 30 PCO
SIGN 27
SIGN
P /SIGN 26 31
/PCO
Servo ON 36
SG
+ 9
P Control 10
(When ON, P control
enabled) /P-CON
8
prohibited /COIN+
prohibited) 12
Reverse rotation (/V-CMP Speed coincident )
prohibited /TGON Rotation Detection
(When OFF, reverse rotation N-OT 13 ~ /S-RDY Servo Ready
prohibited) /TGON+
Alarm reset /BR Brake interlock
/ALM-RST ~ 1 /TGON- *
(When ON, alarm reset) 14 ~ * PGC Encoder C pulse output
Clear signal input OT Over travel
(When ON, displacement /RD Servo enabled motor
/CLR ~ excitation
clears) 15 6
~ 5
limit /NCL
~
+24V
17
ALM+
~ 3 ALM-
Photocoupler output
Connector frame
CN3\CN4:
1 -
2 -
3 485+
4 ISO_GND
5 ISO_GND
6 485-
7 CANH
8 CANL
- 30 -
+10%
Three-phase AC200~230 50/60Hz -15%
Molded-case Curcuit Breaker
Surge
Protector
Noise Filter
1RY PL
ON 1MC
OFF 1MC 1RY
Magnetic Contactor
A(1) Servo motor
U_A B(2)
1MC
L1 V_A C(3) MA
1MC W_A D(4)
L2 FG
1MC
L3 CN2_A Serial Encoder
7 S+
FG 8 S- Encoder
17 BAT+
L1C BAT-
18 PGA
5 PG5V
L2C
9 PG0V
19 Shield
ETS Servo Drive
A(1) Servo motor

U_B B(2)
V_B C(3) MB
B1
B1 W_B D(4)
B2 FG
B2
External Regenerator Resistor B3
B3 CN2_B Serial Encoder
7 S+
8 S- Encoder
17 BAT+
CN1_A 18 BAT- PGA
5 PG5V
9 PG0V
19 Shield
A(1) Servo motor

CN1_B U_C B(2)
V_C C(3) MC
W_C D(4)
FG
CN2_C Serial Encoder
7 S+
CN1_C 8 S- Encoder
17 BAT+
18 BAT- PGA
5 PG5V
9 PG0V
19 Shield
CN3
CN4
Shell
FG
Connect Shield to Connector Shell
- 31 -
CN1_A、CN1_B、CN1_C:
CN1_A/B/C
34
PAO
pair wire /PAO
reference PL1
25 150Ω 32
PULS PULS PBO
/PBO ratio output
Position reference
reference PL2
150Ω 30 PCO
SIGN 27
SIGN
P /SIGN 26 31
/PCO
Servo ON 36
SG
+ 9
P Control 10
(When ON, P control
enabled) /P-CON
8
prohibited /COIN+
prohibited) 12
Reverse rotation (/V-CMP Speed coincident )
prohibited /TGON Rotation Detection
(When OFF, reverse rotation N-OT 13 ~ /S-RDY Servo Ready
prohibited) /TGON+
Alarm reset /BR Brake interlock
/ALM-RST ~ 1 /TGON- *
(When ON, alarm reset) 14 ~ * PGC Encoder C pulse output
Clear signal input OT Over travel
(When ON, displacement /RD Servo enabled motor
/CLR ~ excitation
clears) 15 6
~ 5
limit /NCL
~
+24V
17
ALM+
~ 3 ALM-
Photocoupler output
Connector frame
CN3\CN4:
1 -
2 -
3 485+
4 ISO_GND
5 ISO_GND
6 485-
7 CANH
8 CANL
- 32 -
3.6 Wiring for Noise Control
3.6.1 Noise Control
The servodrive uses high-speed switching elements in the main circuit. It may receive "switching noise"from these
high-speed switching elements.
To prevent malfunction due to noise, take the following actions:
• Position the input reference device and noise filter as close to the servo drive as possible.
• Always install a surge absorber in the relay, solenoid and electromagnetic contactor coils.
• The distance between a power line (servomotor main circuit cable) and a signal line must be at least 30 cm.Do not put
the power and signal lines in the same duct or bundle them together.
• Do not share the power supply with an electric welder or electrical discharge machine. When the servo drive is placed
near a high-frequency generator, install a noise filter on the input side of the power supplyline. As for the wiring of noise
filter, refer to (1) Noise Filter shown below.
• For proper grounding technique, refer to (2) Correct Grounding.
(1) Noise Filter

Please install a noise filter in the appropriate place to protect the servo drive from external noise interference.
Notice：
Noise filter *3 Servo Drive

Servomotor
AC 200V L1
M
AC 400V L2 (FG)
L3
3.5mm2 min. *1  CN2 PG


CN1
2
2mm min.
Operation relay sequence
Signal generation circuit
*3 *2
Noise DC
filter power
3.5mm2 min.
(ground plate) (ground plate) (ground 3.5mm min. *1

2
plate)
*1
Wires of
3.5mm2 min. (ground plate)
(ground plate)
Ground: Ground to an independent ground

use ground resistor 100Ω max.
•For ground wires connected to the ground plate, use a thick wire with a thickness of at least 3.5 mm2 (preferably, plain
stitch cooper wire)
• should be twisted-pair wires.
- 33 -
•When using a noise filter, follow the precautions in 3.6.2 Precautions on Connecting Noise Filter.
(2) Correct Grounding
Take the following grounding measures to prevent the servo drive from malfunctioning due to noise.
￭ Grounding the Motor Frame
If the servomotor is grounded via the machine, a switching noise current will flow from the servo drive main circuit through
the servomotor stray capacitance.
Always connect servomotor frame terminal FG to the servodrive ground terminal. Also be sure to ground the ground
terminal .
￭ Noise on the I/O Signal Line
If the I/O signal line receives noise, ground the 0 V line (SG) of the reference input line. If the main circuit wiring for the
motor is accommodated in a metal conduit, ground the conduit and its junction box. For all grounding, ground at one point
only.
（3）Precautions on installing on the control panel
￭When the servo drive is installed on the control panel, a piece of metal plate should be fixed. It is used for fixing the servo
drive and other peripheral devices. The noise filter should be installed on the metal plate, and closed to the hole drill
through power lines on control panel. Use screws to fix the noise filter to the metal plate. The grounding terminals of noise
filter connects to the grounding terminals of control panel.
￭Servo drive should be fixed on a piece of metal plate. Make sure the heat sink towards ground. The grounding terminals
of servo drive connect to the grounding terminals of control panel.
3.6.2 Precautions on Connecting Noise Filter
(1) Noise Filter Brake Power Supply

Use the noise filter Manufactured by SCHAFFNER at the brake power input for servomotors with holding brakes.
Relationship between servo drive power and noise filter current:
Servo Motor Power Noise Filter Current for single motor

50W 1.5A
100W 1.5A
200W 2A
400W 3A
750W 5A
1.0kW 6A
Note:
1. A single-phase servomotor should apply a two-phase filter. A three-phase servo drive should apply a
three-phase filter.
2. Choose the right filter according the specifications of operating voltage, current, and manufacturer.
(2) Precautions on Using Noise Filters
Do not put the input and output lines in the same duct or bundle them together.
- 34 -
Noise Noise
Filter Filter
Ground plate Ground plate
Noise Noise
Filter Filter
Separate these circuits
Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines and other signal lines in the same duct or bundle them
together.
Noise Noise
Filter Filter
Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other
ground wires.
Noise Noise
Filter Filter
servodrive servodrive servodrive servodrive
stub
Shielded
ground wire
ground plate ground plate
If a noise filter is located inside a control panel, connect the noise filter ground wire and the ground wires from other
devices inside the control panel to the ground plate for the control panel first, then ground these wires.
- 35 -
Control Panel
Servodrive
Noise
Filter
Servodrive
Ground
Ground plate
- 36 -
Chapter 4
Operation
4.1 Trial Operation
Make sure that all wiring has been completed prior to trial operation.
Perform the following three types of trial operation in order. Instructions are given for speed control mode (standard setting)
and position control mode. Unless otherwise specified, the standard parameters for speed control mode (factory settings)
are used.
（1）Trial Operation for Servomotor Without Load (Refer to 4.1.1)
■Purpose
The servomotor is operated without connecting the shaft to the
Power Supply
machine in order to confirm the following wiring is correct.
·Power supply circuit wiring
·Servomotor wiring
·Encoder wiring
·Rotation direction and speed of servomotor.
(Please refer to step 1-4)
（2）Trial operation for servomotor with host reference (Refer to 4.1.2)

■Purpose
The servomotor is operated without connecting the shaft to the
Power Supply
machine in order to confirm the following wiring is correct.
·I/O signal wiring with host controller
·Rotation direction, speed and number of rotations of servomotor.
·Check the operation of the brake, overtravel and other protective
functions.
(3) Trial operation for servomotor and machine combined. (Refer to 4.1.3)
■Purpose
Perform the trial operation with the servomotor
Power Supply
connected to the machine. The servo drive is adjusted to match the
machine characteristics.
·Servomotor speed and machine travel distance.
·Set the necessary parameters.
- 37 -
Step Item Description Reference

Install the servomotor and servo drive according to the installation
1 Installation conditions. (Do not connect the servomotor to the machine because the -
servomotor will be operated first under the no-load condition for checking.)
Connect the power supply circuit (L1, L2 and L3), servomotor wiring (U, V,
W), I/O signal wiring (CN1_A/B/C), and encoder wiring (CN2_A/B/C). But
2 Wiring -
during (1) Trial Operation for Servomotor Without Load, disconnect the
CN1_A/B/C connector.
Turn the power ON. Using the panel operator to make sure that the servo
Turn the power
3 drive is running normally. If using a servomotor equipped with an absolute -
ON
encoder, please perform the setup for the absolute encoder.
Execute JOG Execute JOG operation with the servomotor alone under the no-load JOG
4
operation condition. Operation
Connect input Connect the input signals (CN1_A/B/C) necessary for trial operation to the
5 -
signals servo drive.
Use the internal monitor function to check the input signals.

Check input
6 Turn the power ON, and check the emergency stop, brake, overtravel, and -
signals
other protective functions for the correct operation.
Input the
Host
7 Servo-ON Input the Servo-ON signal, and turn ON the servomotor.
Reference
signal
Input the reference necessary for control mode, and check the servomotor Host
8 Input reference
for correct operation. Reference
Turn the power OFF, and connect the servomotor to the machine.
Protective If using a servomotor equipped with an absolute encoder, set up the absolute
9 -
operation encoder and make the initial settings for the host controller to match the
machine’s zero position.
Using the same procedure as you did to input a reference in step 8,operate
Set necessary the servomotor via the host controller and set the parameter to make sure
10 Host
parameters. the machine’s travel direction, travel distance, and travel speed
Reference
allcorrespond to the reference.
Host
11 Operation The servomotor can now be operated. Adjust the servo gain if necessary.
Reference
- 38 -
4.1.1 Trial Operation for Servomotor Without Load
！CAUTION
·Release the coupling between the servomotor and the machine, and secure only the servomotor without a load.
·To prevent accidents, initially perform the trial operation for servomotor under no-load conditions (with all couplings
and belts disconnected).
In this section, confirm the cable connections of the main circuit power supply, servomotor and encoder. Incorrect wiring is
generally the reason why servomotors fail to operate properly during the trial operation.
Confirm the wiring, and then conduct the trial operation for servomotor without load according to the following steps.
Step Description Check Method and Remarks

Secure the servomotor. Secure the servomotor flange to the machine in order
to prevent the servomotor frommoving during
operation.
Do not connect the servomotor shaft to the machine.
Secure the servomotor
flange to the machine. The servomotor may tip over during rotation.
1 Do not connect anything to the

shaft ( no-load conditions).
Check the power supply circuit, servomotor, and encoder With the I/O signal connector
wiring. (CN1_A/B/C)disconnected, check the power supply
2
circuit and servomotor wiring.
Refer to 3.1 Main Circuit Wiring.
Turn ON the control power supply and main circuit power If the power is correctly supplied, the panel operator
display on the front panel of the servo drive will appear
supply.
as shown on the left. The display on the left indicates
Normal Display that forward run prohibited (P-OT) and reverse run
prohibited (N-OT).
3 If an alarm display appears, the power supply circuit,
servomotor wiring, or encoder wiring is incorrect. If an
Alternate Display
alarm is displayed, turn OFF the power, find the
Example of Alarm Display problem, and correct it.
When using a servomotor with a brake, release the brake Please refer to 4.3.4 Setting for Holding Brakes
4 Please refer to 4.4 Operating Using Speed Control
first before driving the servomotor.
with Internally Set Speed
- 39 -

Use the panel operator to operate the servomotor with
utility function Fn002 (JOG Mode Operation)Check that
the servomotor rotates in the forward direction by pressing
the INC key, and reverse direction by pressing the DEC
Panel Operator
key.
Power Supply The operation is completed when the operation is
performed as described below and the alarm display does
5 not appear.
Complete the Fn002 (JOG Mode Operation) and turn OFF
the power.
For the operation method of the panel operator, refer to
Chapter 5 Panel Operator
The servomotor speed can be changed using the Pn305
(JOG Speed).The factory setting for JOG speed is
500rpm.
 JOG Mode Operation (Fn002)

Step Display after operation Panel operator Description
Press the MODE key to select the function

1 MODE key
mode.
Press the INC key or DEC key to select
2 INC or DEC key
Fn002.
Press the ENTER key, and the servomotor will enter
3 ENTER key
JOG operation mode.
Press the MODE key. This will turn ON the power to
4 MODE key
the servomotor.
The servomotor will run in forward direction when INC
Forward key is pressed or in reverse direction when DEC key

running
5 INC or DEC key is pressed. The servomotor will operate as long as the
key is pressed.
Reverse
running
Press the MODE key. This will turn OFF the power to
6 MODE key
the servomotor.
Press the ENTER key to return to the Fn002 display
7 ENTER key of the utility function mode. Now, the servo drive is
OFF.
Note：
The servomotor’s rotation direction depends on the setting of parameter Pn001.0(Direction Selection).
The example above describes operation with Pn001.0 in the factory setting.
- 40 -
JOG Speed
Speed Position
Pn305
Setting Range Setting Unit Factory Setting Setting Validation
0~6000 rpm 500 Immediately
Set the utility function Fn002 (JOG Mode Operation) to the reference value of servomotor speed.
The servomotor can be operated using only the panel operator without reference from the host controller.
Please note that the Forward Run Prohibited (P-OT) and Reverse Run Prohibited (N-OT) signals are invalid during JOG
mode operation.
4.1.2 Trial Operation for Servomotor without Load from Host Reference
Check that the servomotor move reference or I/O signals are correctly set from the host controller to the servo drive.
Also check the wiring and polarity between the host controller and servo drive, and the servo drive operation settings are
correct. This is the final check before connecting the servomotor to the machine.
Operating Procedure in Position Control Mode (Pn005=H.□□1□)

The following circuits are required: External input signal circuit or equivalent.
Servodrive
CN1_A
+24V 9
/S-ON
10
CLR 15
PULS+
25
Pulse reference
PULS- 24
Reference pulse according to
parameter Pn004.2 setting. SIGN+ 27
SIGN-
26
CN1_B
/S-ON
10
CLR 15
PULS+
25
Pulse reference
PULS- 24
Reference pulse according to
SIGN-
26
CN1_C
/S-ON
10
CLR 15
PULS+
25
Pulse reference
Reference pulse according to PULS- 24

SIGN-
26
- 41 -

Match the reference pulse form with the pulse output form Set the reference pulse form with Pn004.2.
1
from the host controller.
Set the reference unit and electronic gear ratio so that it Set the electronic gear ratio with Pn201(or
2
coincides with the host controller setting. Pn203)/Pn202.
3 Turn the power and the servo ON input signal ON.
Send the slow speed pulse reference for the number of Set the servomotor speed to100rpm for the
4 servomotor rotation easy to check (for example, one reference pulse speedbecause such speed is safe.
servomotor revolution) from the host controller in advance.
Check the number of reference pulses input to the servo Refer to5.1.6 Operation in Monitor Modefor how it
5 drive by the changed amount before and after the Un013 and is displayed.
Un014(input reference pulsecounter)[pulse] were executed.
Check whether the actual number of servomotor rotations Refer to5.1.6 Operation in Monitor Mode for how
6 Un009、Un010 coincides with the number of input reference it is displayed.
pulses.
Check that the servomotor rotation direction is the same as Check the input pulse polarity and input reference
7
the reference. pulse form.
Input the pulse reference with the large number of Set the servomotor speed to 100rpm for the
8 servomotor rotation from the host controller to obtain the reference pulse speed because such speed is safe.
constant speed.
Check the reference pulse speed input to the servo drive Refer to5.1.6 Operation in Monitor Modefor how it
9 using the Un008in Monitor Mode.(input reference pulse is displayed.
speed)[rpm].
Check the servomotor speed using the Un000 in Monitor Refer to5.1.6 Operation in Monitor Modefor how it
10
Mode.(servomotor speed) [rpm]. is displayed.
To change the servomotor rotation direction without
changing the input reference pulse form, refer to
11 Check the rotation of the servomotor shaft. 4.3.2 Switching theServomotor Rotation
Direction. Perform the operation from step 8 again
after the servomotor rotation direction is changed.
When the pulse reference input is stopped and servo OFF
12 status is entered, the trial operation for servomotor without
load in position control mode is complete.
- 42 -
4.1.3 I/O JOG control
This function is available under all control mode, JOG speed is according to the value that set in the
parameter Pn305; The operation is different from Fn002 and Modbus communication which have
independent S-ON operation (Mode selection、S-ON for JOG operation). I/O JOG mode don’t have
independent S-ON signal, It depends on the actual status of the control mode that used. When the
function is enable, allocation of the Input signal can be defined by Pn711 and Pn712. The combinations
of the I/O port are shown as below:
JOGP JOGN Status

OFF OFF Quit I/O JOG mode
ON OFF Positive direction
OFF ON Negative direction
ON ON Zero speed
4.1.4 Trial Operation with the Servomotor Connected to the Machine
！WARNING
·Follow the procedure below for trial operation precisely as given.

·Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may
also cause an accident resulting in death or injury.
Follow the procedure below to perform the trial operation.
To power supply
To host controller
Secure the servomotor flange to the

machine, but do not connect the motor
shaft to the load shaft.

1 Turn the power ON, and make the settings for the Refer to 4.3 Setting Common Basic Functions.
mechanical configuration related to protective When a servomotor with brake is used, take advance
functions such as overtravel and brake. measures to prevent vibration due to gravity acting on
the machine or external forces before checking the
brake operation. Check that both servomotor and brake
operations are correct.
2 Set the necessary parameters for the control mode Refer to 4.4 Operating Using Speed Control with
used. Analog Reference,4.5 Operating Using Position
Control
3 Connect the servomotor to the machine with the
coupling,etc.,while the power is OFF.
4 Check that the servo drive is servo OFF status and Refer to 4.3 Setting Common Basic Functions.
then turn ON the power to the machine (host For the following steps, take advanced measures for an
controller). Check again that the protective function in emergency stop so that the servomotor can stop safely
- 43 -
step 1 operates normally. when an error occurs during operation.

5 Perform trial operation with the servomotor connected Check that the trial operation is completed according to
to the machine, following each section in 4.1.2 Trial the trial operation for servomotor without load. Also,
Operation for Servomotor without Load from Host check the settings for machine such as reference unit.
Reference.
6 Check the parameter settings for control mode used in Check that the servomotor rotates matching the
step 2. machine operating specifications.
7 Adjust the servo gain and improve the servomotor The servomotor will not be broken in completely during
response characteristics, if necessary. trial operation. Therefore, let the system run for a
sufficient amount of time to ensure that it is properly
broken in.
8 Thus, the trial operation with the servomotor
connected to the machine is complete.
- 44 -
4.1.5 Trial Operation for Servomotor with Brakes
Holding brake operation of the servomotor can be controlled with the brake interlock output (/BK) signal of the servo drive.
When checking the brake operation,take advance measures to prevent vibration due to gravity acting on the machine or
external forces. Check the servomotor operation and holding brake operation with the servomotor separated from the
machine.If both operations are correct, connect the servomotor to the machine and perform trial operation.
4.2 Control Mode Selection
The control modes supported by the ETS series servo drives are described below.
Parameter Control Mode
Speed Control (parameter reference)
Controls servomotor speed using parameter reference. Use in the
following instances.
H.□□0□
·To control speed
·For position control using the encoder feedback divisionoutput from
the servo drive to form a position loop in the host controller.
Position Control(Pulse train reference)
Controls the position of the servomotor using pulse train position
reference.
H.□□1□
Controls the position with the number of input pulses, and controls the
speed with the input pulse frequency.
Use when positioning is required.
Pn005
Speed Control(contact reference) Speed Control
(zero reference)
Use the three input signals /P-CON，/P-CL and /N-CL to control the
H.□□2□
speed as set in advance in the servo drive.
Three operating speeds can be set in the servo drive. (In this case, an
analog reference is not necessary.)
H.□□3□
· These are swiching modes for using the four control methods
· described above in combination. Select the control method switching
· mode that best suits the application.
H.□□5□
H.□□6□ Reserved
- 45 -
4.3 Setting Common Basic Functions
4.3.1 Setting the Servo ON Signal
This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF.
(1)Servo ON signal(/S-ON)
Connector Pin
Type Name Setting Meaning
Number
ON(low level) Servomotor power ON. Servomotor can beoperated.
CN1_A/B/C_10
Input /S-ON Servomotor power OFF. Servomotor cannot be
(Factory setting) OFF(high level)
operated.
■Important
Always input the servo ON signal before inputting the input reference to start or stop the servomotor.
Do not input the input reference first and then use the /S-ON signal to start or stop. Doing so will degrade internal
elements and may cause the servo drive to malfunction.
A parameter can be used to re-allocate the input connector number for the /S-ON signal. Refer to 3.2.2 I/O Signal Names
and Functions.
(2) Enabling/Disabling the Servo ON Signal

A parameter can be always used to set the servo ON condition. This eliminates the need to wire /S-ON, but care must be
taken because the servo drive can operate as soon as the power is turned ON.
Parameter Meaning
b.□□□0 External S-ON signal enabled (Factory setting)
Pn000 External S-ON signal disabled, the servomotor excitation signal is
b.□□□1
opened automatically after outputting the S-RDY signal.
After changing these parameters, turn OFF the main circuit and control power supplies, and then turn them
ON again to enable the new settings.
- 46 -
4.3.2 Switching the Servomotor Rotation Direction
The rotation direction of the servomotor can be switched without changing the reference pulse to the servo drive or the
reference voltage polarity.
This causes the rotation the servo motor shaft is rotating to change. The output signal polarity, such as the encoder pulse
output and the analog monitor signal from the servo drive do not change.
The standard setting for “forward rotation” is counterclockwise as viewed from the servomotor load end.
Reference
Parameter Name
Forward reference Reverse reference
b.□□□0 Standard setting
(CCW=forward)
CCW
(factory setting) CW
PAO
PAO
PBO PBO
Pn001
b.□□□1 Reverse rotation
mode
CCW
(CW=forward) CW
PAO PAO
PBO PBO
The direction of P-OT and N-OT change. For Pn001=b.□□□0(standard setting), counterclockwise is P-OT. For
Pn001=b.□□□1(reverse rotation mode), clockwise is P-OT.
- 47 -
4.3.3 Setting the Overtravel Limit Function
The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn
ON a limit switch.
(1)Connecting the overtravel signal
To use the overtravel function, connect the following overtravel limit switch to the corresponding pin number of servo drive
CN1_A/B/C connector correctly.
Type Signal Name Pin No. Setting Meaning

Forward rotation allowed. (Normal
ON(low level)
CN1_A/B/C_12 operation status.)
Input P-OT
(factory setting) Forward rotation prohibited.
OFF(high level)
(Forward overtravel)
Reverse rotation (Normal operation
ON(low level)
CN1_A/B/C_13 status.)
Input N-OT
(factory setting) Reverse rotation prohibited.
OFF(high level)
(Reverse overtravel)
Connect limit switches as shown below to prevent damage
to the devices during linear motion. Servomotor forward rotation direction.
Rotation in the opposite direction is possible during Servodrive
overtravel. Servomotor
CN1
For example, reverse rotation is possible during forward Limit switch Limit switch
P-OT
12
overtravel. N-OT 13
■Important
When using overtravel to stop the servomotor during position control, the position error pulses are present. A clear
signal(CLR)input is required to clear the error pulses.
！ CAUTION
When using the servomotor on a vertical axis, the workpiece may fall in the overtravel condition.
To prevent this, always set the zero clamp after stopping with Pn004.0=5.
- 48 -
(2)Enabling/Disabling the Overtravel Signal

A parameter can be set to disable the overtravel signal. If the parameter is set, there is no need to wire the overtravel input
signal.
Parameter Meaning
b.□□0□ Inputs the forward rotation prohibited(P-OT) signal
fromCN1_A/B/C_12(factory setting).
b.□□1□ Disables the forward rotation prohibited (P-OT) signal. (Allows constant
forward rotation.)
Pn000
b.□0□□ Inputs the reverse rotation prohibited(N-OT) signal
fromCN1_A/B/C_13.(factory setting)
b.□1□□ Disables the reverse rotation prohibited(N-OT) signal. (Allows constant
reverse rotation.)
·Applicable control modes: Speed control, position control, and torque control.
·After changing these parameters, turn OFF the main circuit and control power supplies, and then turn them ON again to
enable the new settings.
·A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 3.2.2 I/O Signal
Names and Functions.
（3）Selecting the Servomotor Stop Method

This is used to set the stop method when an overtravel(P-OT,N-OT)signal is input while theservomotor is operating.
Mode After
Parameter Stop Mode Meaning
Stopping
Stop by dynamic Rapidlly stops the servomotor by dynamic braking(DB),
H.□□□0
brake then places it into coast(power OFF) mode.
Coast Stops the servomotor in the same way as when the
H.□□□1 Coast to a stop servo is OFF(coast to a stop ), then places it into
coast(power OFF) mode.
Stops the servomotor by dynamic braking (DB) when
H.□□□2 servo OFF, stops the servomotor by plug braking when
overtravel, and then places it into coast (power OFF)
mode.
Coast
Pn004 Makes the servomotor coast to a stop state when servo
OFF, stops the servomotor by plug braking when
H.□□□3
S-OFF overtravel, and then places it into coast (power OFF)
/Overtravel mode.
Stops the servomotor by dynamic braking (DB) when
H.□□□4
servo OFF, stops the servomotor by plug braking when
overtravel, and then places it into zero clamp mode.
Zero Clamp
Makes the servomotor coast to a stop state when servo
H.□□□5 OFF, stops the servomotor by plug braking when
overtravel, then places it into zero clamp mode.
- 49 -
·After changing these parameters, turn OFF the main circuit and control power
supplies, and then turn them ON again to enable the new settings. Servodrive Servomotor
·Stop by dynamic brake: Stops by using the dynamic brake (short circuiting its
electrical circuit).
·Coast to a stop: Stops naturally, with no brake, by using the friction resistance
of the servomotor in operation.
·Plug braking: Stops by using plug braking limit torque.
·Zero Clamp Mode: A mode forms a position loop by using theposition
reference zero.
·Dynamic brake is an emergency stop function, and one of the general methods to cause a servomotor sudden stop.
·Dynamic brake suddenly stops a servomotor by shorting its electrical circuit.
·If the servomotor is frequently started and stopped by turning the power ON/OFF or using the servo ON signal(/S-ON),
the DB circuit will also be repeatedly operated, degrading the servo drive’s internal elements.
·Use the speed input reference and position reference to control the starting and the stopping of the servomotor.
(4)Setting the Stop Torque for Overtravel

Plug braking torque limit`
Speed Position
Pn405
0～300 % 300 Immediately
·This sets the stop torque for when the overtravel signal(P-OT,N-OT) is input.
·The setting unit is a percentage of the rated torque.(the rated torque is 100%)
·The value large enough to be the servomotor maximum torque, 300% is set as the factory setting for plug braking limit
torque.However, the actual output plug braking limit torque is determined by servomotor ratings.
- 50 -
4.3.4 Setting for Holding Brakes
The holding brake is used when the servo drive controls a vertical axis.
A servomotor with the brake option helps prevent movable parts from shifting due to gravity when power is removed from
the servo drive.(Refer to 4.1.4 Trial Operation for Servomotor with Brakes.)
Vertical axis Shaft with external force applied

Servomotor
Servomotor
Holding brake External force
Prevents the servomotor

from shifting due to
gravity when the power is
OFF.
Prevents the servomotor from
shifting due to external force.
1. The servomotor with the built in brake, is a de-energization brake. It is used to hold the servomotor and cannot be used
as a braking purposes. Use the holding brake only to hold a stopped servomotor.
2. When operating using only a speed loop, turn OFF the servo and set the input reference to 0V when the brake is
applied.
3. When forming a position loop, do not use a mechanical brake while the servomotor is stopped because the servomotor
enters servolock status.
（1）Wiring Example
Use the servo drive sequence output signal /BK and the brake power supply to form a brake ON/OFF circuit.
The following diagram shows a standard wiring example.
Servodrive Servomotor with brake

Power supply
R L1 U
S L2 V
M
T L3 W
L1C
L2C
CN2_A/B/C PG
CN1_A/B/C
BK-RY (/BK+) *1
+24V
(/BK-) *2
BK
Brake power supply
BK-RY Yellow or blue Red

White AC DC Black
BK-RY：Brake control relay

1*、2*：The output terminals allocated with Pn511.
- 51 -
（2）Brake interlock output

Type Signal Name Connector Pin Number Setting Meaning
ON(Low level) Releases the brake.
Output /BK Must be allocated
OFF(High level) Applies the brake.
This output signal controls the brake and is used only for a servomotor with a brake. This output signal is not used with
the factory setting.The output signal must be allocated by Pn511. It does not need to be connected for servomotor
without a brake.
（3）Allocating Brake Interlock Output (/Bk)
Brake interlock output (/BK) is not used with the factory setting.The output signal must be allocated.
Connector Pin Number
Parameter Meaning
+ Terminal - Terminal
The /BK signal is output from output
Pn511 H.□□□4 CN1_A/B/C-11 CN1_A/B/C-12
terminal CN1_A/B/C-11,12.
Pn511 H.□□4□ CN1_A/B/C-5 CN1_A/B/C-6
terminal CN1_A/B/C -5,6.
Pn511 H.□4□□ CN1_A/B/C-9 CN1_A/B/C-10
terminal CN1_A/B/C -9,10.
■Important
When set to the factory setting, the brake signal is invalid.
For the allocation of servo drive output signals other than /BK signal, refer to 3.2.2 I/O Signal Names and Functions.
Parameter Pn511 description as following：
0 /COIN(/V-CMP)output
1 /TGON rotation detecting output
2 /S-RDY servo drive get ready output
3 /CLT torque limit output
4 /BK brake interlock output
5 /PGC encoder C pulse output
6 OT overtravel signal output
7 /RD servo enabled motor excitation output
8 /HOME home completion output
9 /TCR torque detection output
Related parameter：
Parameter Setting
Name Unit Default
No. Range
Pn505 Servo ON waiting time ms -2000~2000 0
Pn506 Basic waiting flow 10ms 0~500 0
Pn507 Brake waiting speed rpm 10～100 100
Pn508 Brake waiting time 10ms 10～100 50
- 52 -
（4）Setting the Brake ON/OFF Timing after the Servomotor Stops

With the factory setting, the /BK signal is output at the same time as the servo is turned OFF. The servo OFF timing can be
changed with a parameter.
Servo ON waiting time
Pn505
-2000～2000 ms 0 Immediately
Basic waiting flow
Pn506
0～500 10ms 0 Immediately

·When using the servomotor to control a vertical axis, the machine movable parts may shift slightly depending on the
brake ON/ OFF timing due to gravity or an external force. By using this parameter to delay turning the servo ON/ OFF, this
slight shift can be eliminated.
·For details on brake operation while the servomotor is operating, refer to (5) Setting the Brake ON/ OFF Timing When
Servomotor Running in this section.
/S-ON Servo ON Servo OFF Servo ON
Brake released Using brakes Brake released

/BK Output
brake
Power to Power to
Power to Servomotor No power to
servomotor servomotor
servomotor
Pn506 Pn505
■Important
·The servomotor will turn OFF immediately when an alarm occurs, regardless of the setting of this parameter.
·The machine movable part may shift due to gravity or external force during the time until the brake operates.
- 53 -
（5）Setting the Brake ON/OFF Timing When Servomotor Running
The following parameters can be used to change the /BK signal output conditions when a stop reference is output during
servomotor operation due to the servo OFF or an alarm occuring.
Brake Waiting Speed

Speed Position
Pn507
10～100 1rpm 100 Immediately
Brake Waiting Time

Speed Position
Pn508
/BK Signal Output Conditions When Servomotor Running
The /BK signal goes to high level(brake ON) when either of the following conditions is satisfied:
·When the servomotor speed falls below the level set in Pn507 after servo OFF.
·When the time set in Pn508 is exceeded after servo OFF.
Servo OFF
/S-ON input Servo ON
or alarm or
power OFF
Servomotor stopped
by applying DB or
Servomotor Speed Pn507 coasting.
(Pn004.0)
Brake released Brake held

/BK Output
Pn508
4.4 Absolute Encoders
Absolute Encoder Output Range of

Resolution Action when limit is exceeded
Type Multiturn Data
·When the upper limit (+32767)is exceeded in the
forward direction, the multiturn data is -32768
16-bit/multiturn
ETS Series -32768～+32767 ·When the lower limit (-32768)is exceeded
17-bit/singleturn
in the reverse direction, the multiturn data is
+32767.
The absolute position can be read by the MODBUS protocol. In the actual control, the MODBUS protocol can read the
initial position when the servomotor is stopped (S-OFF), then the real-time position during the servomotor is running can
be found from the number of PG divided output pulses.
- 54 -
4.4.1 Selecting an Absolute Encoder
An absolute encoder can also be used as an incremental encoder.
Parameter Meaning
Pn002 b.□0□□ Use the absolute encoder as an absolute encoder. (Factory setting)
b.□1□□ Use the absolute encoder as an incremental encoder.
·The back-up battery is not required when using the absolute encoder as an incremental encoder.
·After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON
again to enable the new settings.
- 55 -
4.4.2 Handling Battery
In order for the absolute encoder to retain position data when the power is turned OFF, the data must be backed up by a
battery.
Please purchase the special cable and battery case mabe by Estun if an absolute encoder is used.
Install the battary to the encoder cable：
A. Open the shell of the battery case.
B. Install the battery according to the following diagram.
Encoder cable
C. Cover the shell of the battery case.
- 56 -
4.4.3 Replacing Battery
The servo drive will generate an absolute encoder battery alarm (A.48) when the battery voltage drops below about 3.1V.
 Battery Replacement Procedure
1. Replace the battery with only the servo drive control power supply turned ON.
2. After replacing the battery, using the panel operator with utility function Fn011 to cancel the absolute encoder battery
alarm (A.48).
3. Turn ON the servo drive power back again. If it operates without any problems, the battery replacement has been
completed.
Note:
·The servo drive will generate an absolute encoder battery alarm (A.48) when the battery voltage drops below about 3.1V.
·If an absolute encoder battery alarm (A.47) occurred, it means the battery voltage drops below about 2.5V, and the
multiturn data is lost. Please reset the absolute encoder after changing the battery.
4.4.4 Absolute Encoder Setup(Fn010、Fn011)
Setting up the absolute encoder in the following cases.
·When starting the machine for the first time,set Pn002.2 to 0.
·When an encoder error alarm (A.45～A.48, A.51) is generated.
Use the panel operator in the servo drive for setup.
Note:
1. Encoder setup operation is only possible when the servo is OFF.
2. If the absolute encoder alarms(A.45～A.48，A.51 ) are displayed, cancel the alarm by using the same method as the
setup. They cannot be cancelled with the servo drive alarm reset input signal(/ALM-RST).
3. Any other alarms that monitor the inside of the encoder should be cancelled by turning OFF the power.
4.5 Operating Using Speed Control with Internally Set Speed
4.5.1 Setting Parameters
Parameter Meaning
Pn005 H.□□0□ Control mode selection:Speed control(Internally set speed)(factory setting)
- 57 -
4.5.2 Soft Start
The soft start function converts the stepwise speed reference inside the servo drive to a consistent rate of acceleration
and deceleration.
Pn310 can be used to select the soft start form:
0: Slope; 1: S curve; 2: 1st-order filter; 3: 2nd-order filter
Soft Start Acceleration Time
Speed
Pn306
Soft Start Deceleration Time
Speed
Pn307
The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting
internally set speeds. Set both Pn306 and Pn307 to “0” for normal speed control.
Set these parameters as follows:
·Pn306：The time interval from the time the servomotor starts until the servomotor is 1000rpm.
·Pn307：The time interval from the time the servomotor is 1000rpm until it stops.
Servomotor maximum speed
After soft start

Before soft start
Pn306 Pn307
4.5.3 Speed Reference Filter Time Constant
Speed Reference Filter Time Constant

Speed
Pn308
st
This smooths the speed reference by applying a 1 –order delay filter to the analog speed reference (V-REF) input. A
value that is too large, however, will decrease response.
- 58 -
4.5.4 S-curve Risetime
S-curve Risetime
Speed
Pn309
4.5.5 Encoder Signal Output
Encoder feedback pulses processed inside the servo drive can be output externally.
Type Signal Name Connector Pin Number Name
PAO+ 34 Encoder output phase A
Output
PAO- 35 Encoder output phase /A
PBO+ 32 Encoder output phase B
Output
PBO- 33 Encoder output phase /B
PCO+ 30 Encoder output phase C(zero-point pulse)
Output
PCO- 31 Encoder output phase /C(zero-point pulse)
These outputs explained here.
Servodrive Host Controller
Encoder CN1
*
CN2 Phase A(PAO)
Serial Data Frequency Phase B(PBO)
PG
dividing
Phase C(PCO)
circuit
*The dividing output phase form is the same as the standard setting(Pn001.0=0) even if inreverse rotation
mode(Pn001.0=1).
■Output phase form
Pn001.0=0：
- 59 -
90°
Forward(CCW) 90° Reverse(CW)
Phase A Phase A
Phase B Phase B
t t
Pn001.0=1：
90°
Forward(CCW) 90° Reverse(CW)
Phase A Phase A
Phase B Phase B
t t
If the servomotor is not equipped with an absolute encoder, the servomotor needs two full rotations before using the servo
drive's Phase-C pulse output as the zero point reference.
Dividing:Dividing means that the divider converts data into the pulse density(Pn200) based on the pulse data of the
encoder installed on the servomotor, and outputs it. The setting unit isnumber of pulses/revolution.
- 60 -
 Pulse Dividing Ratio Setting

PG Dividing Ratio
Speed Position
Pn200
1~2500 Puls 2500 After restart
Set the number of pulses for PG output signals(PAO,/PAO,PBO,/PBO) externally from the servo drive.
Feedback pulses from the encoder per revolution are divided inside the servo drive by the number set in Pn200 before
being output. (Set according to the system specifications of the machine or host controller.)
The setting range varies with the number of encoder pulses for the servomotor used.
■Output Example
Pn200=16(when 16 pulses are output per revolution)
Preset value：16
PAO
PBO
1 revolution
4.5.6 Speed coincidence output
The speed coincidence (/V-CMP) output signal is output when the actual servomotor speed during speed control is the
same as the speed reference input. The host controller uses the signal as an interlock.
CN1_A/B/C-7，8 ON(low level) Speed coincides.
Output /V-CMP(/COIN)
(factory setting) OFF(high level) Speed does not coincide.
Coincidence Difference
Speed
Pn501
0～100 rpm 10 Immediately
The /V-CMP signal is output when the difference between the speed reference and actual servomotor speed is less than
Pn501.
■Example
The /V-CMP signal turns ON at 1900 to 2100rpm ifthe Pn501 parameter is set to 100 and the reference speed is 2000rpm.
Servomotor speed Pn501
Reference speed
/V-CMP is output in this range.
■Note
This pin outputs the /COIN signal in position control mode, and the /V-CMP signal in speed control mode.
- 61 -
4.5.7 Speed control(contact reference)
The function of internally set speed selection allows speed control operation by externally selecting an input signal from
among seven servomotor speed setting made in advance with parameters in the servo drive. The speed control
operations within the three settings are valid. There is no need for an external speed or pulse generator.
Servodrive
Internally set speed parameters
SPEED1 Pn316 Servomotor

/P-CON
SPEED2 Pn317
Speed reference
SPEED3 Pn318
Contact inputs M
/P-CL SPEED4 Pn319
SPEED5 Pn320
SPEED6 Pn321
/N-CL
SPEED7 Pn322
■Parameters setting
Parameter Meaning
Pn005 H.□□2□ Control mode selection:Speed control(contact reference)
Internal set speed 1 speed
Pn316
-6000～6000 rpm 100 Immediately
Pn317
Pn318
Pn319
-6000～6000 rpm -100 Immediately
Pn320
Pn321
- 62 -
Pn322

(Note):The servomotor’s maximum speed will be used whenever a speed setting for the Pn316～Pn322 exceeds the
maximum speed.
■Control mode switching

Use ON/OFF combinations of the following input signals to operate with the internally set speeds.
When Pn005.1=2: Selects the internally set speed (contact reference) Speed control (zero reference)
Input Signal
Speed
/P-CON /P-CL /N-CL
OFF(H) OFF(H) Speed control (zero reference)
OFF(H) ON(L) SPEED1

OFF(H)
ON(L) OFF(H) SPEED2
ON(L) ON(L) SPEED3
OFF(H) OFF(H) SPEED4
OFF(H) ON(L) SPEED5

ON(L)
ON(L) OFF(H) SPEED6
ON(L) ON(L) SPEED7

Note: OFF= High level; ON= Low level
WhenPn005.1 = 3，/P-CON,/PCL，/NCL =OFF(H)，switches to position control(pulse train reference)
Input Signal
Speed
/P-CON /PCL /NCL
OFF(H) OFF(H) Positioncontrol(pulse train reference)
OFF(H) ON(L) SPEED1
OFF(H)
ON(L) OFF(H) SPEED2
ON(L) ON(L) SPEED3
OFF(H) OFF(H) SPEED4
OFF(H) ON(L) SPEED5
ON(L)
ON(L) OFF(H) SPEED6
ON(L) ON(L) SPEED7
- 63 -
4.6 Operating Using Position Control
4.6.1 Basic Setting in Position Control
(1)Control mode selection
Set the following parameters for position control using pulse trains.
Parameter Meaning
Pn005 H.□□1□ Control mode selection：position control(pulse train reference)
(2)Setting a reference pulse sign

Type Signal Name Connector Pin Number Name
PULS+ CN1_A/B/C-25 Reference pulse input
PULS- CN1_A/B/C-24 Reference pulse input
Input
SIGN+ CN1_A/B/C-27 Reference sign input
SIGN- CN1_A/B/C-26 Reference sign input
Set the input form for the servo drive using parameter Pn004.2 according to the host controllerspecifications.
Reference Input Pulse Forward Rotation Reverse Rotation
Parameter
Pulse Form Multiplier Reference Reverse
PULS PULS
Sign+pulse train (CN1_A/B/C-25 ) (CN1_A/B/C-25)
H.□0□□ (positive logic) — SIGN

(CN1_A/B/C-27)
H SIGN
(CN1_A/B/C-27)
L
(factory setting)
PULS
(CN1_A/B/C-25) PULS
L
(CN1_A/B/C-25)
CW+CCW SIGN
H.□1□□ — (CN1_A/B/C-27
SIGN
(CN1_A/B/C-27) L
Pn004 (positive logic)
H.□2□□ ×1 90º 90º

Two-phase pulse
H.□3□□ ×2 PULS PULS
(CN1_A/B/C-25)
(CN1_A/B/C-25)
train with 90°
SIGN SIGN
phase differential (CN1_A/B/C-27) (CN1_A/B/C-27)
H.□4□□ ×4
(positive logic)
■Note:
The input pulse multiplier can be set for the two-phase pulse train with 90°phase differential reference pulse form.
- 64 -
Forward Rotation Reverse Rotation
PULS
(CN1_A/B/C-25)
SIGN
(CN1_A/B/C-27)
×1
Internal processing ×2 Servomotor movement

reference pulses.
×4
(3)Inverse PULS and SIGN reference

Pn004 0□□□ Do not inverse PULS reference and SIGN reference
1□□□ Do not inverse PULS reference; Inverse SIGN reference
2□□□ Inverse PULS reference; Do not inverse SIGN reference
3□□□ Inverse PULS reference and SIGN reference
- 65 -
4.6.2 Setting the Clear Signal
（1）Setting the Clear Signal
Type Sign Name Connector Pin Numbe Function
Input /CLR CN_A/B/C-15 error counter clear

When the /CLR signal is set to low level, clear error counter:
·The error counter inside the servo drive is set to“0”
·Position loop operation is disabled.
（2）Setting the Clear SignalMode

In position control mode, pulses will be still presented in the servo drive when servo OFF, thus it should be cleared when
servo drive is turned ON. Setting Pn004 to choose whether clearing the pulses automatically when servo OFF.
□□0□ Clearthe error pulse when S-OFF, donot whenovertravel.
Pn004 □□1□ Do not clear the error pulse.
□□2□ Clearthe error pulse when S-OFF orovertravel (excep for zero clamp)
4.6.3 Setting the Electronic Gear
（1）Electronic Gear
The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be set to
any value.
One reference pulse from the host controller, i.e., the minimum position data unit, is called a reference unit.
When the Electronic Gear is Not Used When the Electronic Gear is Used
workpiece workpiece
Reference unit：1µm
No. of encoder No. of encoder

Ball screw pitch：6mm Ball screw pitch：6mm
pulses：32768 pulses：32768
To move a workpiece 10mm using
To move a workpiece 10mm :
reference units:
One revolution is 6mm. Therefore 10÷6＝
The reference unit is 1µm. Therefore, to
1.6666 revolutions.
move the workpiece 10mm (10000µm),
32768×4 pulses is one revolution.
1pulse=1µm, so 10000/1＝10000 pulses.
Therefore, 1.6666×32768×4＝218445
Input 10000 pulses per 10mm of
pulses. 218445 pulses are input as
workpiece movement.
reference pulses.
The equation must be calculated at the
host controller.
（2）Related Parameters
□0□□ Use 16 bit electronic gear parameter

Pn009
□1□□ Use 32 bit electronic gear parameter
16 Bit Electronic Gear Ratio (Numerator)
Pn201
1～65535 — 1 After restart
- 66 -
16 Bit Electronic Gear Ratio (Denominator)
Pn202
1～65535 — 1 After restart
32 Bit Electronic Gear Ratio (Numerator,H)
Pn705 Setting Range Setting Unit Factory Setting Setting Validation
1～9999 10000 0 After restart
32 Bit Electronic Gear Ratio (Numerator,L)
32 Bit Electronic Gear Ratio (Denominator,H)
32 Bit Electronic Gear Ratio (Denominator,L)
The deceleration ratio of the servomotor and the load shaft is given as n/m where m is the rotation of the servomotor and n
is the rotation of the load shaft.
B Pn 201
Electronic gear ratio: 
A Pn 202
No. of encoder pulses  4 m
 
Travel dis tan ce per load n
shaft revolution (reference units )
·When 32 bit electronic gear function is enabled, B  Pn 705 10000  Pn706 .

A Pn707 10000  Pn708
·If the ratio is outside the setting range, reduce the fraction (both numerator and denominator) until you obtain integers
within the range.
·Be careful not to change the electronic gear ratio (B/A).
■Important
·Electronic gear ratio setting range: 0.01≤electronic gear ratio(B/A)≤ 100
·If the electronic gear ratio is outside this range, the servo drive will not operate properly. In this case, modify the load
configuration or reference unit.
(3)Procedure for Setting the Electronic Gear Ratio
Use the following procedure to set the electronic gear ratio.

Step Operation Description
Check the deceleration ratio, ball screw pitch and pulley
1 Check machine specifications.
diameter.
Check the number of encoder
2 Check the number of encoder pulses for the servomotor used.
pulses.
Determine the reference unit from the host controller,
3 Determine the reference unit used. considering the machine specifications and positioning
accuracy.
Calculate the travel distance per load shaft Calculate the number of reference units necessary to turn the load shaft
4
revolution. one revolution based on the previously determined reference units.s
- 67 -
5 Calculate the electronic gear ratio. Use the electronic gear ratio equation to calculate the ratio (B/A).
6 Set parameters. Set parameters using the calculated values.
(4)Electronic Gear Ratio Setting Examples
The following examples show electronic gear ratio settings for different load configurations.
Load Configuration
Ball Screw Disc Table Belt and Pulley
Reference unit：0.1º Reference unit：0.01mm

Reference unit：0.001mm
Load shaft Load shaft
Step Operation
Deceleration ratio:
3：1 Deceleration ratio: Pulley diameter:
17-bit encoder Ball screw pitch：6mm F 100mm
2：1
Load shaft
17-bit encoder 17-bit encoder
Rotation angle per Pulley diameter:100 mm

Check machine Ball screw pitch:6mm
1 revolution:360° (pulley circumference:314 mm)
specifications. Deceleration ratio:1/1
Deceleration ratio:3/1 Deceleration ratio:2/1
2 Encoder 17-bit:32768P/R 17-bit:32768P/R 17-bit:32768P/R
Determine the
1 reference unit:
3 reference unit 1 reference unit:0.1° 1 reference unit:0.01mm
0.001mm(1μm)
used
Calculate the
travel distance
4 6mm/0.001mm=6000 360°/0.1°=3600 314mm/0.01mm=31400
per load shaft
revolution
Calculate the
B 32768  4 1 B 32768  4 3 B 32768  4 2
5 electronic gear      
A 6000 1 A 3600 1 A 31400 1
ratio
Pn201 131072 Pn201 393216 Pn201 262144
6 Set parameters
Pn202 6000 Pn202 3600 Pn202 31400
Pn201 32768 Pn201 32768 Pn201 32768
7 Final result
Pn202 1500 Pn202 300 Pn202 3925
·Reduce the fraction (both numerator and denominator) if the calculated result will not be within the setting range.
·For example, reduce the above numerators and denominators by four or other numbers to obtain the final results in step
7 and complete the settings.
- 68 -
(5)Electronic Gear Ratio Equation
Servomotor n
Pitch＝P（mm/rev）
Reference pulse B +
Position Speed
A — loop loop
(mm / P) m
(mm / P ) : Reference unit ×4

PG(P/rev))
PG(P/rev))：Encoder pulses
P（mm/rev）：Ball screw pitch
m
：Deceleration ratio
n
n p B
 ( )  4  PG  m
 A
B 4  PG  m   4  PG m
( )   Set A and B with the following parameters：
A n p P n
A ：Pn202 B ：Pn201

- 69 -
4.6.4 Smoothing
A filter can be applied in the servo drive to a constant-frequency reference pulse.
(1)Selecting a Position Reference Filter
Parameter Description
0：1st-order filter
Pn205
1：2nd-order filter
* After changing the parameter, turn OFF the power once and turn it ON again to enable the new setting.
(2)Filter-related Parameters
Position Reference Acceleration/Deceleration Time Constant
Position
Pn204
0～32767 0.25ms 0 Immediately
■Important
When the position reference acceleration/deceleration time constant (Pn204) is changed, a value with no reference
pulse input and a position error of 0 will be enabled. To ensure that the setting value is correctly reflected, stop the
reference pulse from the host controller and input the clear signal (CLR), or turn OFF to clear the error.
This function provides smooth servomotor operation in the following cases.
·When the host controller that outputs a reference that cannot perform acceleration/deceleration processing.
·When the reference pulse frequency is too low.
·When the reference electronic gear ratio is too high (i.e., 10× or more)
- 70 -
4.6.5 Low Frequency Vibration Suppression
（1）Note:
For the low rigidity load, low frequency vibration will occur continually at the front end of the load during fast acceleration
or fast deceleration. The vibration may delay positioning time and affect the productive efficiency.
The function of low frequency vibration suppression is embedded in ETS series servo drives by calculating the load
position and compensating.
Low Frequency Vibration
Coupling Moving part Ball Screw
Workbench
Servomotor
（2）Application:
Low frequency vibration suppression function is enabled in both speed control mode and position control mode.
Low frequency vibration suppression function is disabled or can not reach the expected effect in the following conditions.
 Vibration is pricked up due to an external force.
 Vibration frequency is between5.0Hz to 50.0Hz.
 There is mechanical clearance at the mechanical connection part.
 The time for movement is less than one vibration period.

（3）How to operate:
 Measuring Vibration frequency
Write the frequency data measured(unit:0.1Hz) directly to Parameter Pn411, if the vibration frequency can be
measured by an instrument (such as a laser interferometer).And it also can be measured indirectly by
communication software ESView or FFT analsis function.
- 71 -
Position error counter
ΔT
0
t
f ＝ 1 / ΔT
 Related Parameters
Parameter Meaning
H.□0□□ 0:Low frequency vibration suppression function disabled

Pn006 1:Speed low frequency vibration suppression function enabled
H.□1□□ 2: Position low frequency vibration suppression function enabled
Low frequency vibration frequency

Speed Position
50～500 0.1Hz 100 Immediately
Low frequency vibration damp
Speed Position
0～200 — 25 Immediately
·Writing the frequency data to parameter Pn411 can adjust Pn411 slightly to obtain the best suppression effect.
·If the servomotor stopped with continuous vibration, Pn412(Do not change in general) should be increased properly.
·Parameter Pn411 and Pn412 are enabled when Pn006.2=1 or 2(Setting validation: after restart).
- 72 -
4.6.6 Positioning Completion Output Signal
This signal indicates that servomotor movement has been completed during position control. Use the signal as an
interlock to confirm that positioning has been completedat the host controller.
CN1_A/B/C-7, ON(low level) Positioning has been
CN1_A/B/C-8 completed.
Output /COIN
(Factory setting) OFF(high level) Positioning is not
completed.
·This output signal can be allocated to an output terminal with parameter Pn511. Refer to 3.2.2 I/O Signal Names and
Functions.
Positioning Error
Position
0～5000 1Puls 10 Immediately
Position complete time

Position
Pn520
0~60000 0.25ms 500 Immediately
·The positioning completion (/COIN) signal is output when the difference (position error pulse) between the number of
reference pulses output by the host controller and the travel distance of the servomotor is less than the value set in this
parameter and the stabilization time is more than the value of Pn520.
·Set the number of error pulses in reference unit (the number of input pulses defined using the electronic gear).
·Too large a value at this parameter may output only a small error during low-speed operation that will cause the /COIN
signal to be output continuously.
·The positioning error setting has no effect on final positioning accuracy.
Reference
Speed Servomotor speed
Pn500
Error pulse
(Un011,Un012)
/COIN
(CN1_A/B/C-11,12)
■Note
·/COIN is a position control signal.
·This signal is used for the speed coincidence output /V-CMP for speed control, and it always OFF(high level) for torque
control.
- 73 -
4.6.7 Reference Pulse Inhibit Function(INHIBIT)
(1)Description
This function inhibits the servo drive from counting input pulses during position control.
The servomotor remains locked (clamped) while pulses are inhibited.
Servodrive
Pn005.1
Pn005=H.□□1□
OFF +
Reference pulse
Pn005=H.□□4□ Error Counter
ON -
/P-CON
/P-CON
Feedback pulse
(2)Setting Parameters
Parameter Meaning
Pn005 H.□□4□ Control mode selection：position control(pulse train reference)⇔INHIBIT
■Inhibit(INHIBIT) switching condition
·/P-CON signal ON (low level)
ON OFF ON
/P-CON
Reference pulse
t1 t2
t1，t2≤ 0.5ms
Input reference pulses are not
counted during this period.
(3)Setting Input Signals

Signal Connector Pin
Type Setting Meaning
Name Number
Turns the INHIBIT function ON.
ON(low level) (Inhibit the servo drive from countingreference
Input /P-CON CN1_A/B/C-11 pulses)
Turns the INHIBIT function OFF.
OFF(high level)
(Counters reference pulses.)
- 74 -
4.6.8 Position Control (contact reference)
Position control under contact reference (parameter Pn005.1＝5). In this mode, servo drive can position with a single axes
without a host controller.
There are 16 position control points with each being able to set move distance, running speed, constants for position
reference filter time, and the stop time when positioning completed. Two speeds (1. speed moving toward distance switch
“speed of looking for reference point”. 2. Speed moving away from distance switch “moving speed.”) of reference points
could be set as:
Two position modes: 1. Absolute position mode 2. Relative position mode
Two running modes: 1. Circling mode 2. Non-circling mode
Two step switching method: 1. Delay step switching 2. /P-CON signal switching
Method of looking for reference points: 1. Forward direction 2. Reverse direction
￭Adjusting offset
Offset of each points has two correspondent parameters: one unit of the parameter is 【x 10000 reference pulse】and the
other is 【x 1 reference pulse】. Setting range of both parameters is: (-9999----+9999), while offset value equals sum of
those two values.
For example:
No.0 offset correspond to parameter Pn600【x 10000 reference pulse】 and Pn601【x 1 reference pulse】. Set Pn600
= 100, Pn601=-100.
No.0 offset value = Pn600x10000 reference pulse + Pn601x1 reference pulse
= 100x10000 reference pulse + (-100)x1 reference pulse
= 999900 reference pulse
With the same principle, we can conclude: in order to get the same results, we also can set Pn600 = 99 and Pn601 =
9900.
Thus, we can see when the two parameters are not zero; we can get same result by two ways: one is to set the two
parameters both negative or both positive, or one negative the other positive.
￭Speed
Speed mentioned here refers to the steady speed during which the motor is running, which is similar to the pulse
frequency given from the external pulse reference in position control.However, this speed has nothing to do with the
electronic gear; it is the actual speed of the motor.
￭Position reference filter time constant

Same as position reference filter time constant Pn204 in common position control.
￭Time for change steps after desired position reached

Apply internal delay to change steps to a valid value in parameter Pn681.1.
Time for change steps outputs from positioning completed signal CON/, from Servo ON, or from the time when reference
point is found till the Servo performs the program to control position of the point. Such period of time depends on step
changing time required by a point number among start point in program.
When running point control program, if error counter is set as “not clear error counter when Servo OFF”, then the error
counter might flood. If it does not flood, then the servo drive will probably run at the max. running speed when Servo ON
again. PLEASE PAY ATTENTION TO THE SAFETY OF INSTRUMENT.
- 75 -
Setting
Para. No. Name and description Default
range
[0] Clear error pulse when S-0FF, not clear error pulse
when overtravel.
Pn004.1 0~2 0
[1] Not clear error pulse
[2] Clear error pulse When S-OFF or over travel
￭Looking for the reference point

Looking for the reference point is for establishing a zero physical point of the operating platform, which is used as zero
point in the coordinates during point position control. And users may choose to find a reference point either in forward or
reverse side.
How to find a reference point
Mount a limit switch in the forward or reverse side.Find a reference point in the forward direction after connecting to /PCL
and in the reverse direction after connecting to /NCL. When the operating platform bumps into the limit the switch, the
motor will first stop according to the way set by Pn004.0, and then rotate again against limit the switch. When the
operating platform leaves the limit switch and the motor reaches the position of first photo encoder Phase C pulse,then
position of operating platform is set to be the zero point of the coordinates.
How to find related parameters of reference point
Speed towards limit switch is called “speed of looking for reference point “, and the moving speed away from limit switch is
called “ moving speed”. These two speeds could be set by the following parameters:
Para. No. Description Unit Setting range Default
Speed of looking for reference point (hits
Pn685 rpm 0~3000 1500
the limit switch)
Moving speed (move away from limit
Pn686 rpm 0~200 30
switch)
Usually, the set speed of the reference point (Pn685) is high, and the moving speed (Pn686) is low. Note: if moving speed
is too high, precision of finding a reference point would be affected.
When looking for a reference point, /PCL and /NCL are no longer programmed to limit external current.
■Related parameter
Para. No. Description Observation
Choose between cycle run and single run. Changing steps will be performed till
0: Cycle run, /PCL as start signal, /NCL reverse to the end point is completed comma
look for reference point. and the next change will start from
1: Single run, /PCL as start signal, /NCL reverse to the start point during multi-points
Pn681.0 look for reference point. cycle run.
2. Cycle run, /NCL as start signal, /PCL reverse to Point control program will not
look for reference point. change steps after the end point is
3. Single run, /NCL as start signal, /PCL reverse to completed during multi- points single
look for reference point. run.
- 76 -
Change steps by external /P-CON

Change step and start mode
signals. The signal will be valid when
0: Delay changing steps, the start signal is not
drive output reaches the desired
needed.
Pn681.1 position. When input signal changes,
1: Change steps by /P-CON, start signal not needed.
the signal is valid, then steps will be
2. Delay changing steps, need start signal.
changed by consequence from start
3. Change steps by /P-CON, need start signal.
point to end point.
Change step input signal mode
Pn681.2 [0] High or low level
[1] sign pulse
Incremental: relative moving
distance (distance from current point
to next point) programming.
0: Incremental
Pn682 Absolute: absolute moving distance
1: Absolute
(distance between operating
platform and the reference point)
programming.
- 77 -
4.7 Limiting Torque
The servo drive provides internal torque limit/external torque limitfor limiting output torque to protect the machine.
4.7.1 Internal Torque Limit

Speed Position
Maximum torque is always limited to the values set in the following parameters.
Forward Torque Limit
Pn401 Setting Range Setting Unit Speed Position

Factory Seeting Setting Validation
Reverse Torque Limit
Pn402 Setting Range Setting Unit Factory Seeting Setting Validation

·The setting unit is a percentage of rated torque.
·The maximum torque of the servomotor is used, even though the torque limit is set higher than the maximum torque of
the servomotor. (as is the case with the 300% factory setting)
With No Internal Torque Limit

With Internal Torque Limit
（Maximum torque can be output）
Pn402
t
t
Pn401
Speed Speed
Limiting torque
Maximum torque
■Note:
Too small a torque limit setting will result in insufficient torque during acceleration and deceleration.
- 78 -
4.7.2 External Torque Limit
This function allows the torque to be limited at specific times during machine operation, for example, during press stops
and hold operations for robot workpieces.
An input signal is used to enable the torque limits previously set in parameters.
(1)Related Parameters
Forward External Torque Limit
Speed Position
Reverse External Torque Limit
Speed Position
Note: The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
(2)Input Signals
Signal Connector Pin
Type Setting Meaning Limit Value
Name Number
ON(low level) Forward external torque limit Pn403
Input /P-CL Pn509.0=6
OFF(high level) Forward internal torque limit Pn401
ON(low level) Reverse external torque limit Pn404
Input /N-CL Pn509.0=7
OFF(high level) Reverse internal torque limit Pn402
When using this function, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-CL.
(3)Changes in Output Torque during External Torque Limiting
Example: External torque limit (Pn401，Pn402) set to 300%

/P-CL(Forward External Torque Limit Input)
High level Low level
Pn402
Pn402
Torque Torque
High 0 0
level
Speed Pn403
Pn401 Speed
/N-CL
(Reverse
External
Torque Pn404 Pn404
Torque Torque
Limit Input)
Low
0 0
level
Pn403
Speed Speed
Pn401
Note: Select the servomotor rotation direction by setting Pn001=b.□□□0 (standard setting, CCW=Forward direction).
- 79 -
4.8 Other Output Signals
4.8.1 Servo alarm output
The following diagram shows the right way to connect the Alarm Output.
Servo drive
CN1
I/O Power supply
+24V 0V
Optocoupler output 4 ALM+
(Each output node)
50mA max
Max.output voltage: 30V ALM-
Max.output current: 50mA 3
An external +24V I/O power supply is required since there is no +24V power source available inside the servo drive.
Output → ALM+CN1_A/B/C-4 Servo alarm output
Output → ALM- CN1_A/B/C-3 Servo alarm output uses grounding signal
ALM outputs a signal when the servo drive is detected in an abnormal state.
Servo drive
Be detected
abnormal ALM Output
Cut off the main circuit

power
Normally, the external circuit consists of /ALM should be able to switch off the power of servo drive.
Signal Status Output level Comments

ON CN1_A/B/C-4：“L” level Normal state
ALM
OFF CN1_A/B/C-4：“H” level Alarm state
When “servo alarm(ALM)” happens, always remove alarm reasons first , and then turn the input signal "/ALM-RST" to ON
position to reset alarm status.
4.8.2 Others
Pn511.0 SignalName Connector PinNumber Setting Meaning
CN1_A/B/C-7/8 ON=L Positioning is complete.

0 /COIN(/VCMP) CN1_A/B/C-1/2
CN1_A/B/C-5/6 OFF=H Positioning is not complete
CN1_A/B/C-7/8 Servomotor is operating(Servomotor

1 /TGON ON=L
CN1_A/B/C-1/2 speed is above the setting in Pn503).
- 80 -
Pn511.0 SignalName Connector PinNumber Setting Meaning

CN1_A/B/C-5/6
Servomotor is not
OFF=H operating(Servomotor
speed is below the setting in Pn503).
ON=L Servo is ready.

CN1_A/B/C-7/8
2 /S-RDY CN1_A/B/C-1/2
CN1_A/B/C-5/6 OFF=H Servo is not ready.
Motor output torque under limit

ON=L (Internal torque reference is higher
CN1_A/B/C-7/8
than setting value).
3 /CLT CN1_A/B/C-1/2
CN1_A/B/C-5/6 No torque limit (Internal torque
OFF=H
reference is lower than setting value).
ON=L Releases the brake.

CN1_A/B/C-7/8
4 /BK CN1_A/B/C-1/2
CN1_A/B/C-5/6
OFF=H Applies the brake.
CN1_A/B/C-7/8 ON=L With encoder C pluse output

5 PGC CN1_A/B/C-1/2
CN1_A/B/C-5/6 OFF=H Without encoder C pluse output
Without forward rotation

ON=L Prohibited(POT) and reverse rotation
CN1_A/B/C-7/8
prohibited(NOT)signal
6 OT CN1_A/B/C-1/2
With forward rotation
CN1_A/B/C-5/6
OFF=H Prohibited(POT)and reverse rotation
prohibited(NOT)signal
CN1_A/B/C-7/8 ON=L Servo enabled motor excitation

7 /RD CN1_A/B/C-1/2
CN1_A/B/C-5/6 OFF=H Servo disabled motor not excitation
CN1_A/B/C-7/8
ON=L Homing is enabled
8 /HOME CN1_A/B/C-1/2
CN1_A/B/C-5/6 OFF=H Homing is disabled
Not including this setting in the Motor output torque is higher than
ON=L
default setting,please choose Pn529 setting value.
9 /TCR
terminal output by setting parameter Motor output torque is lower than
OFF=H
Pn511 Pn529 setting value.
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4.9 Online Autotuning
4.9.1 Online Autotuning
Online autotuning calculates the load moment of inertia during operation of the servo drive and sets parametersso that the
servo gains are consistent with the machine rigidity.
Online autotuning may not be effective in the following cases:
• The motor high speed is lower than 100 rpm.
• The motor acceleration or deceleration is lower than 5000rpm/s.
• Load rigidity is low and mechanical vibration occurs easily or friction is high.
•The speed load moment is changed greatly.
• Mechanical gas is very large.
If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotuning,
set the value in Pn106 (Load inertia percentage) and performthe adjustment manually.
4.9.2 Online Autotuning Procedure
！WARNING
￭Do not perform extreme adjustment or setting changes causing unstable servo operation.Failure to observe
this warning may result in injury and damages to the machine.
￭ Adjust the gains slowly while confirming motor operation.
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Start
Operate with factor setting.

（Set Pn100=1）
Operation OK？ Yes
No
No Load moment of inertia

varies?
Yes
Continuous online autotuning

（Pn100=1、2、3、4、5、6）
Operation OK? Yes
No
Adjust the machine rigidity setting

（Set at Pn101）
Operation OK？ Yes
No
Do not perform online autotuning.

（Set Pn100=0）
End
4.9.3 Setting Online Autotuning
Related parameters:
Parameter Setting Factory Setting
Name Unit
No. Range Setting Invalidation
Online autotuning setting
Pn100 0:Manual gain adjustment — 0~6 0 After restart
1,2,3=Normal mode;4,5,6=Vertical load
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1,4 = Load inertia without variation;

2,5 = Load inertia with little variation;
3,6=Load inertia with great variation
Pn101 Machine rigidity setting — 0~15 5 Immediately
Speed gain acceleration relationship during

online autotuning
Pn128 — 0~3 3 Immediately
If the setting is greater, the servo gain will
increase.
4.9.4 Machine Rigidity Setting for Online Autotuning
There are 16 machine rigidity settings for online autotuning, When the machine rigidity setting is selected, the servo
gains (speed loop gain, speed loop integral time constant, position loop gain) are determined automatically. The
factory setting for the machine rigidity setting is 5.
Machine Position Loop Gain【s-1】 Speed Loop Gain【Hz】 Speed Loop Integral Time
Rigidity Setting Pn104 Pn102=Pn104*( Pn128+1) Constant【0.1ms】
Pn103
0 10 40 800
1 15 60 600
2 20 80 450
3 25 100 400
4 30 120 300
5 40 160 200
6 65 260 140
7 80 320 110
8 100 400 90
9 120 480 80
10 140 560 70
11 160 640 60
12 180 720 55
13 210 840 50
14 250 1000 40
15 300 1200 30
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4.10 Internal Homing Function
The servomotor always needs to operate at a fixed position. This position is normally regarded as the zero position. When
the host controller is turned on, the zero position adjustment is required before processing. This zero position will be
regarded as the reference point. ESTUN servo drives can perform this function by the homing function.
(1)Homing Mode Setting
Para. No. Description

b.□□□0 Homing in the forward direction
b.□□□1 Homing in the reverse direction
b.□□0□ Return to search C-Pulse when homing
Pn689 b.□□1□ Directly search C-Pulse when homing
b.□0□□ Homing function disabled
b.□1□□ Homing triggered by SHOM signal(rising edge)
·Applicable control mode: position control(contact reference) ←→speed control(contact reference)

·Homing operation can only be operated when /COIN is ON.
·Pulses sent from the host controller is disabled when homing
·Homing operation is disabled when in switching control mode.
·Control mode switching is not allowed during homing.
·After changing these parameters, turn OFF the main circuit and control power supplies and then turn
them ON again to enable the new settings.
·A parameter can be used to re-allocate input connector number for the SHOM and ORG signals. Refer
to 3.2.3 I/O Signal Names and Functions.
(2)Related parameter:
Speed of finding reference point(Hitting the origin signal ORG)

Speed of finding reference point(Leaving the origin signal ORG)
Number of error pulses during homing
0~9999 10000 puls 0 Immediately
Number of error pulses during homing
0~9999 1 puls 0 Immediately
(3)Input Signal Setting
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Type Signal Connector Pin Setting Meaning

Name Number ON=↑(rising edge) Homing is enabled
Input SHOM Must be allocated by
Pn509,Pn510 OFF(not rising edge) Homing is disabled
Must be allocated by ON=H ORG is enabled

Input ORG
Pn509,Pn510 OFF=L ORG is disabled
Must be allocated ON=L

Input /HOME Homing completed
byPn511 OFF=H
·After changing Pn509, Pn510 and Pn511 turn OFF the main circuit and control power supplies and
then turn them ON again to enable the new settings.
(4)Description of Homing Operation
Please set Pn689 according to the actual operation in position control mode. When starting the homing function, the
servomotor will run at the speed of Pn685 when detecting the rising edge of SHOM signal; the servomotor will run at the
speed of Pn686 according to the setting of Pn689.1 when detecting the valid ORG signal.
When input ORG and the encoder C-Pulse is detected, the servo drive will begin to calculate the number of homing offset
pulses. When offset pulses is completed, the servomotor stops and outputs homing completion signal /HOME, then
homing control is completed.
Pn685 (Hitting the origin signal (ORG)) is usually set at high speed, Pn686 (Leaving the origin signal ORG) is usually set
at low speed.
Please be attention that if Pn686 is setting too high, the precision of mechanical zero position will be affected.
After hitting the origin signal ORG, the motor will return to find C-pulse; the figure is shown as below:
Speed Pn 685
(rpm)
Pn 686
Return to find C-pulse

0rpm
Homing offset distance

（ Pn 690 *10000 ＋ Pn 691 ）
Rising edge
SHOM
ORG
Encoder C-pulse
Begin to counter offset distance after the first C -

Corresponding position: pulse is produced when leaving zero posiion .
- 86 -
Mechanical shaft
Machine moves, return to search

pulse C Motor slow down, reverse
Begin to counter offset distance after

the first C-pulse is produced when
leaving zero posiion.
Encoder C-pulse
ORG
Rising edge
SHOM
After hitting the origin signal ORG, the motor will find C-pulse directly; the figure is shown as below:
Speed Pn 685
rpm
Pn 686
Find C-pulse without
0rpm returning
Homing offset distance

Pn 690 × 10000 ＋ Pn 691
Rising edge
SHOM
ORG
Encoder C-pulse
Begin to counter offset distance after the first C -pulse

is produced when leaving zero posiion.
Corresponding position:
Mechanical shaft
Machine moves, return to search

pulse C
Begin to counter offset distance after

the first C-pulse is produced when
Motor slow down
leaving zero posiion.
Encoder C-pulse
ORG
Rising edge
SHOM
- 87 -
Chapter 5
Panel Operator
5.1 Basic Operation
5.1.1 Functions on Panel Operator
The panel operator is a built-in operator that consists of display section and keys located on the front panel of the servo
drive.
Parameter setting, status display ,and execution of utility function are enabled using the panel operator.
The names and functions of the keys on the panel operator are shown as follows:
A
B
C
AXIS MODE INC DEC ENTER
Panel Corresponding
Function
Symbol Key Name
AXIS AXIS key To switch the number of axis
·To display the parameter settings and setting values.
▲ INC key
·To increase the setting value.
▼ DEC key
·To decrease the setting value.
·To select a basic mode, such as the display mode, parameter setting
M MODE key mode, monitor mode, or utility function mode.
·To save the setting during parameter setting and exit.
◄ ENTER key To display the parameter settings and setting values, and release ararm.
Note: In this manual, the Panel Symbol is represented by Corresponding Key Name for easy understanding.
5.1.2 Switchthe number of Axis
Servo axisescan be switched by pressing the AXIS key when the panel operator in display mode.
- 88 -
A
B
C
AXIS MODE INC DEC ENTER
5.1.3 Basic Mode Selection
The basic modes include status display mode, parameter setting mode, monitor mode, and utility function mode. Each
time the MODE key is pressed, the next mode in the sequence is selected.
Select a basic mode to display the operation status, set parameters and operation references.
The basic mode is selected in the following order.
Power ON
Status display mode
Parameter setting mode
Monitor mode
Utility function mode
5.1.4 Status Display Mode
The status display mode displays the servo drive status as bit data and codes.
Selecting Status Display Mode
The status display mode is selected when the power supply is turned ON. If it is not displayed, select this mode by
pressing MODE key.
Note that the display differs between the speed/torque controland position control types.
- 89 -
{
{
Bit Data Code
①
③
④ ⑦
⑤ ⑥
 Bit Data Display
Speed/Torque Control Mode Position Control Mode

No.
Bit Data Description Bit Data Description
Lit when the difference between the
Lit if error between position reference
servomotor and reference speed is the
and actual servomotor position is below
Speed same as or less than the preset value. Positioning
1
○ preset value.
Coincidence Present value:Pn501(factory setting is Completion
Present value:Pn500(10 pulse isfactory
10rpm)
setting)
Always lit in torque control mode.
2
○ Base lock Lit for base block. Not lit at servo ON. Base block Lit for base block. Not lit at servo ON.
Control Control Lit when servo drive control power is

3
○ Lit when servo drive control power is ON.
power ON power ON ON.
Lit if input speed reference exceeds preset
Speed value.Not lit if input speed reference is Lit if reference pulse is input.
Reference
4
○ reference below preset value. Not lit if no reference pulse is input.
pulse input
input Preset value：Pn503(factory setting is 20
rpm)
Lit if input torque reference exceeds preset
Torque value. Error Lit when error counter clear signal is
5
○ reference Not lit if input torque reference is below counter clear input. Not lit when error counter clear
input preset value. signal input signal is not input.
Preset value：10％ of rated torque
Lit when main circuit power supply is ON Lit when main circuit power supply is
and normal. ON and normal.
6
○ Power ready Power ready
Not lit when main circuit power supply is Not lit when main circuit power supply is
OFF. OFF.
Lit if servomotor speed exceeds preset Lit if servomotor speed exceeds preset
Rotation value.Not lit if servomotor speed is below Rotation value.Not lit if servomotor speed is
7
○ detection preset value. detection below preset value.
/TGON Preset value:Pn503(factory setting is 20 /TGON Preset value:Pn503(factory setting is
rpm) 20 rpm)
- 90 -
 Codes Display
Code Meaning
Baseblock
Servo OFF(servomotor power OFF)
Run
Servo ON（servomotor power ON）
Forward Run Prohibited
CN1_A/B/C_12（P-OT）is OFF.
Reverse Run Prohibited
CN1_A/B/C_13（N-OT）is OFF.
Alarm Status
Displays the alarm number.
Press ENTER key to clear the present servo alarm.
5.1.5 Operation in Parameter Setting Mode
The servo drive offers a large number of functions, which can be selected or adjusted by the parameter settings. Refer
toA.1 Parameter List for details.
■Parameter Setting Procedures
The parameter settings can be used for changing parameter data. Before changing the data, check the permitted range of
the parameter.
The example below shows how to change parameter Pn102 from “100” to “85”.
1． Press MODE key to select the parameter setting mode.
2． Press INC key or DEC key to select parameter number.
3． Press ENTER key to display the current data of Pn102.
4． Press the INC or DEC key to change the data to the desired number 00085. Hold the key to accelerate the changing
of value. When the maximum value or minimum value is reached, pressing INC or DEC key respectively, will have no
effect.
5． Press the ENTER or MODE key once to return to the display of Pn102.
- 91 -
5.1.6 Operation in Monitor Mode
The monitor mode allows the reference values input into the servo drive, I/O signal status, and servo drive internal status
to be monitored.
■Using the Monitor Mode
The example below shows how to display the value (1500) stored in Un001.
1.Press MODE key to select the monitor mode.
2.Press the INC or DEC key to select the monitor number to display.
3.Press the ENTER key to display the data for the monitor number selected at step 2.
4.Press the ENTER key once more to return to the monitor number display.
- 92 -
■List of Monitor Modes
Contents of Monitor Mode Display
Monitor Number Monitor Display

Un000 Actual servomotor speed Unit: rpm
Un001 Reserved
Un002 Reserved
Internal torque reference Unit:%
Un003
(with respect to rated torque)
Un004 Number of encoder rotation angle pulses
Un005 Input signal monitor Internal status bit display
Un006 Encoder signal monitor 7 6 5 4 3 2 1 0

Un007 Output signal monitor
Un008 Frequency given by pulse Unit:1kHZ
Un009 Number of servomotor rotation pulses
Un010 Pulse rate of servomotor rotated（x104）
Un011 Error pulse counter lower 16 digit
Un012 Error pulse counter higher 16 digit
Un013 Number of pulses given
Un014 Number of pulses given（×10000）
Un015 Load inertia percentage
Un016 Servomotor overload ratio
Un017 Bus voltage Unit:V
- 93 -
Contents of Bit Display：
MonitorNumber Display LED Number Content

0 /SON(CN1_A/B/C-10)
1 /P-CON(CN1_A/B/C-11)
2 P-OT(CN1_A/B/C-12)
3 N-OT(CN1_A/B/C-13)
Un005
4 /ALM-RST(CN1_A/B/C-14)
5 /CLR (CN1_A/B/C -15)
6 /PCL(CN1_A/B/C-16)
7 /NCL(CN1_A/B/C-17)
Monitor Number Display LED Number Content

0 （Not used）
1 （Not used）
2 （Not used）
3 （Not used）
Un006
4 Phase-C
5 Phase-B
6 Phase-A
7 （Not used）
Monitor Number Display LED Number Content

0 ALM (CN1_A/B/C-3/4)
1 /COIN(CN1_A/B/C-7/8)
Un007
2 /TGON(CN1_A/B/C-1/2)
3 /S-RDY(CN1_A/B/C-5/6)
- 94 -
5.2 Operation in Utility Function Mode
In utility function mode, the panel operator can be used to run and adjust the servo drive and servomotor.
The following table shows the parameters in the utility function mode.
Parameter No. Function
Fn000 Alarm traceback data display
Fn001 Parameter setting initialization
Fn002 JOG mode operation
Fn003 Reserved
Fn004 Reserved
Fn005 Automatic adjustment of servomotor current detection
Fn006 Manual adjustment of servomotor current detection
Fn007 Software version display
Fn008 Position teaching
Fn009 Static inertia detection
Fn010 Reserved
Fn011 Reserved
Fn012 Reserved
Fn013 Parameters copy
Fn014 Reserved
5.2.1 Alarm Traceback Data Display
The alarm traceback display can display up to 10 previously occurred alarms.The alarm is displayed on Fn000, which is
stored in the alarm traceback data.
Follow the procedures below to confirm alarms which have been generated.
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the function number of alarm traceback data display.
3. Press the ENTER key once, the latest alarm data is displayed.
Alarm Sequence NumberAlarm Code
4.Press the INC or DEC key to display other recent alarms that have occurred.
5. Press the ENTER key, the display will return to Fn000.
Note: Hold the ENTER key for one second with alarm code displaying, all the alarm traceback datas will be cleared.
- 95 -
5.2.2 Parameter Settings Initialization
Follow the procedures below to execute the parameter settings initialization.
1.Press the MODE key to select the utility function mode.

2. Press the INC or DEC key to select the function number of parameter settings initialization.
3.Press the ENTER key to enter into parameter settings mode.
（axis A）
（axis B）
（axis C）
4.Hold the ENTER key for one second, the parameters will be initialized.
5. Release the ENTER key to ruturn to the utility function mode display Fn001.
Note：
Press the ENTER key during servo ON does not initialize the parameter settings.
Initialize the parameter settings with the servo OFF.
- 96 -
5.2.3 Operation in JOG Mode
Follow the procedures below to operate the servomotor in JOG mode.

2. Press the INC or DEC key to select the function number of JOG mode operation.
3. Press the ENTER key to enter into JOG operation mode.
4. Press the MODE key to enter into servo ON(servomotor power ON) status.
5. Press the MODE key to switch between the servo ON and servo OFF status.The servo drive must be in servo ON
status when the servomotor is running.
6. Press the INC or DEC key to rotate the servomotor.
Forward rotation Reverse rotation
7. Press the ENTER key to return to utility function mode display Fn002.Now the servo is OFF(servomotor power OFF).
- 97 -
5.2.4 Offset-adjustment of Servomotor Current Detection Signal
Automatic servomotor current detection offset adjustment is performed at ESTUN before shipping. Basically, the user
does not need to perform this adjustment.
Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset.
This section describes the automatic and manual servomotor current detection offset adjustment.
Note：
·Offset-adjustment of the servomotor current detection signal is possible only while power is supplied to the main
circuit power supply and with the servo is the OFF state.
·Execute the automatic offset adjustment if the torque ripple is too big when compared with that of other servo
drives.
·If this function, particularly manual adjustment, is executed carelessly, it may worsen the characteristics.
■Automatic Offset-adjustment of Servomotor Current Detection Signal

Adjust the servomotor current detection signal automatically in the following procedure:

2. Press the INC or DEC key to select the utility function number Fn005.
3. Press the ENTER key to enter into the automatic adjustment of the servomotor current detection signal mode.
4.Press the MODE key,the display will blinks for one second. The offset will be automatically adjusted.
5. Press the ENTER key to return to the utility function mode display Fn005.
Thus, the automatic offset-adjustment of the servomotor current detection signal is complete.
■Manual Offset-adjustment of Servomotor Current Detection Signal

Adjust the servomotor current detection signal manually in the following procedure.
3. Press the ENTER key to enter into the manual adjustment of the servomotor current detection signal.
- 98 -
4. Press the MODE key to switch between the phase U(o _ CuA) and phase V(1_ Cub) servomotor current detection
offset adjustment.
5. Hold the ENTER key for one second to display the phase V offset amount.
6. Press the INC or DEC key to adjust the offset.
7. Press the ENTER key for one second to return to the display in step 3 or 4.
Thus, the manual offset-adjustment of the servomotor current detection signal is completed.
Note:
The adjusting range of the servomotor current detection offset is -100 to +100.
- 99 -
5.2.5 Software Version Display
Select Fn007 in utility function mode to check the current software version of the drive.
3. Press the ENTER key to display the DSP software version (the highest bit displays d or E or F or 0).
4.Press the MODE key to display the FGPA/CPLD software version (the highest bit displays P).
5. Press the MODE key to return to DSP software version display.

5.2.6 Position Teaching Function
Perform the position teaching function in the following procedure.

3. Press the ENTER key, the display will be shown as below.
5. Release the ENTER key to complete position teaching function.
5.2.7 Static Inertia Detection

4. Press the MODE key to rotate the servomotor, and the servomotor dynamic speed will be displayed.
5. The unit of the servomotor and load total inertia displayed when servomotor stops is kg.cm²
- 100 -
Thus, the static inertia detection is complete.
Note：Make sure that the servomotor completes at least 6 full revolutions in the CCW direction before detection.
5.2.8 Parameters Copy

（A-axis，Parameters are copied from A to B）
（B-axis，Parameters are copied from B to A）

……
5. Release the ENTER key to complete position teaching function.
- 101 -
Chapter 6
MODBUS Communication
6.1 RS-485 Communication Wiring
ETS series servo drives provide the MODBUS communication function with RS-485 interface,
which can be used to easily set parameters or to perform monitoring operations and so on.
The definitions of the servo drive communication connector terminals(CN3、CN4) are as follows.

1 — Reserved
2 — Reserved
3 485+ RS-485 communication terminal
4 ISO_GND
Isolated ground
5 ISO_GND
6 485- RS-485 communication terminal
7 CANH CAN communication terminal
8 CANL CAN communication terminal
Note：
1. The length of the cable should be less than 100 meters and in a environment with minimal electrical
disturbance/interference. However, if the transmission speed is above 9600bps, please use the communication cable
within 15 meters to ensure transmission accuracy..
2. A maximum of 31 servo drives can be connected when RS485 is used. Terminating resistances are used at both ends
of the 485 network. If more devices are wanted to connect, use the repeaters to expand.
3. CN3 of servo drive is always used as communication cable input terminal，and CN4 is always used as communication
cable output terminal(If still need to connect slave stations，the communication cable is connected from CN4 terminal to
the next slave station; if need not, add balance resistor in CN4 terminal.).It is prohibited to connect CN3 of any two servo
drives directly when multiple ETS series servo drives are connected.
Example:
When a RS-485 network is composed of a PLC and three servo drives (A, B, and C), the cable wiring is shown as follows:
PLC→CN3 of A, CN4 of A→CN3 of B, CN4 of B→CN3 of C, CN4 of C→120Ω terminating resistance.
- 102 -
6.2 MODBUS Communication Related Parameters
Setting
Parameter No. Description Control Mode Meaning
Validation
Pn700.0 MODBUS baud rate
[0] 4800bps
[1] 9600bps
[2] 19200bps
[3] 38400bps
[4] 57600bps
[5] 115200bps
Pn700.1 Communication protocol
selection
[0] 7，N，2（MODBUS,ASCII）
[1] 7，E，1（MODBUS,ASCII）
[2] 7，O，1（MODBUS,ASCII）
Pn700 Hex After restart ALL
[6] 8，N，2（MODBUS,RTU）
[7] 8，E，1（MODBUS,RTU）
[8] 8，O，1（MODBUS,RTU）
Pn700.2 Communication protocol
selection
[0] SCI communication with no
protocol
[1] MODBUS SCI communication
Pn700.3 Reserved
Axis address of MODBUS protocol
Pn701 Axis address After restart ALL
communication
- 103 -
6.3 MODBUS Communication Protocol
There are two modes for MODBUS communication: ASCII (American Standard Code for information interchange) mode
and RTU (Remote Terminal Unit) mode.
The next section describes the two communication modes.
6.3.1 Code Meaning
ASCII Mode：
Every 8-bit data is consisted by two ASCII characters. For example: One 1-byte data 64 H（Hexadecimal expression）is
expressed as ASCII code ‘64’, which contains ‘6’ as ASCII code 36H and ‘4’as ASCII code 34H.
ASCII code for number 0 to 9、character A to F are as follows:

Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
ASCII Code 30 H 31 H 32 H 33 H 34 H 35 H 36 H 37 H
Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
ASCII Code 38 H 39 H 41 H 42 H 43 H 44 H 45 H 46 H
RTU Mode：
Every 8-bit data is consisted by two 4-bit hexadecimal data, that is to say, a normal hexadecimal data. For example:
decimal data 100 can be expressed as 64H by 1-byte RTU data.
Data Structure：
10-bit character form（7-bit data）
Pn700.1=0：7，N，2（Modbus，ASCII）
Start Stop Stop

0 1 2 3 4 5 6
bit bit bit
7-data bits
10- bits character frame
Pn700.1=1：7，E，1（Modbus，ASCII）
Start Even Stop

0 1 2 3 4 5 6 parity
bit bit
7-data bits
Pn700.1=2：7，O，1（Modbus，ASCII）
Start Odd Stop

0 1 2 3 4 5 6 parity
bit bit
7-data bits
11-bit character form（8-bit data）
- 104 -
8，N，2（Modbus，ASCII / RTU）
Start Stop Stop

0 1 2 3 4 5 6 7
bit bit bit
8-data bits
8，E，1（Modbus，ASCII / RTU）
Start Even Stop

0 1 2 3 4 5 6 7 parity
bit bit
8-data bits
8，O，1（Modbus，ASCII / RTU）
Start Odd Stop

0 1 2 3 4 5 6 7 parity
bit bit
8-data bits
Communication protocol structure：

Data format of communication protocol：
ASCII Mode：
STX Start character‘：’＝＞(3A H)
ADR Communication address＝＞1-byte contains two ASCII codes
CMD Reference code＝＞1-byte contains two ASCII codes
DATA(n-1) Data content＝＞n-word=2n-byte contain 4nASCII codes，n≦12
……
DATA(0)
LRC Checking code＝＞1-byte contains two ASCII codes
End 1 End code 1＝＞（0D H）（CR）
End 0 End code 0＝＞（0A H）（LF）
RTU Mode：
STX Sleep interval of at least 4 bytes transmission time.
ADR Communication address＝＞1-byte
CMD Reference code＝＞1-byte
DATA(n-1) Data content＝＞n-word=2n-byte，n≦12
……
DATA(0)
CRC CRC checking code＝＞1-byte
End 1 Sleep interval of at least 4 bytes transmission time.
Communication protocol data format instructions are as follows：

STX（communication start）
ASCII mode：‘: ’character
RTU mode: Sleep interval of at least 4 bytes transmission time (automatically changed according to different
- 105 -
communication speed).
ADR（communication address）
Valid communication address：1 to 254
For example: communicate with the servo drive which address is 32（20 in hex）：
ASCII mode：ADR=‘2’，‘0’=＞‘2’=32H，‘0’=30H
RTU mode：ADR=20H
CMD（command reference）and DATA（data）
Data structure is determined by command code. Regular command code is shown as follows:
Command code: 03H，read N words(word)，N ≦ 20.
For example: read 2 words starting from 0070 H from the servo drive which address is 01 H.
ASCII mode：
Reference information： Response information：
STX “：” STX “：”
‘0’ ‘0’
ADR ADR
‘1’ ‘1’
‘0’ ‘0’
CMD CMD
‘3’ ‘3’
‘0’ Data number ‘0’
‘0’ （count as byte） ‘4’
Data start address
‘7’ ‘0’
‘0’ Content of data start ‘0’
‘0’ address 0200H ‘0’
Data number ‘0’ ‘0’
(count as word） ‘0’ ‘0’
‘2’ Content of second data ‘0’
‘8’ address 0201 H ‘0’
LRC checking
‘A’ ‘0’
End 1 (0D H)(CR) ‘F’
LRC checking
End 0 (0A H)(LF) ‘8’
End 1 (0D H )(CR)
End 0 (0A H )(LF)
RTU mode：
ADR 01 H ADR 01 H
CMD 03 H CMD 03 H
00 H (high-bit) Data number
Data start address 04 H
70 H (low-bit) （count as byte）
Data number 00 H Content of data start 00 H (high-bit)
（count as word） 02 H address 0200H 00 H (low-bit)
CRC checking C5 H (low-bit) Content of second data 00 H (high-bit)
CRC checking D0 H (high-bit) address 0201 H 00 H (low-bit)
CRC checking FA H (low-bit)
CRC checking 33 H (high-bit)
Reference code: 06H，write in one word

For example: write 1（0001 H）into 01H servo address 0070 H .
- 106 -
ASCII mode：
STX “：”
STX “：”
‘0’
ADR ‘0’
‘1’ ADR
‘1’
‘0’
CMD ‘0’
‘6’ CMD
‘6’
‘0’
‘0’
‘0’
Data start address ‘0’
‘7’ Data start address
‘7’
‘0’
‘0’
‘0’
‘0’
‘0’
Data content Content of data start ‘0’
‘0’
address 0200H ‘0’
‘1’
‘1’
‘8’
LRC checking ‘8’
‘8’ LRC checking
‘8’
End 1 (0D H)(CR)
End 1 (0D H )(CR)
End 0 (0A H)(LF)
End 0 (0A H )(LF)
RTU mode：
ADR 01 H
CMD 06 H ADR 01 H
00 H (high-bit) CMD 06 H
Data start address 00 H (high-bit)
70 H (low-bit) Data start address
00 H (high-bit) 70 H (low-bit)
Data content 00 H (high-bit)
01 H (low-bit) Data content
CRC checking 49 H (low-bit) 01 H (low-bit)
CRC checking D1 H (high-bit) CRC checking 49 H (low-bit)

CRC checking D1 H (high-bit)
LRC（ASCII mode）and CRC（RTU mode）error detection value calculation：

LRC calculation in ASCII mode:
ASCII mode uses LRC (Longitudinal Redundancy Check) error detection value. The exceeded parts (e.g. the total value is
128H of hex, then take 28H only) is taken off by the unit of 256 in the total value from ADR to the last information, then
calculate and compensate, the final result is LRC error detection value.
- 107 -
For example: read 1 word from 01H servo address 0201H

STX ‘：’
‘0’
ADR
‘1’
‘0’
CMD
‘3’
‘0’
‘2’
Data start address
‘0’
‘1’
‘0’
Data number ‘0’
（count as word） ‘0’
‘1’
‘F’
LRC checking
‘8’
End 1 (0D H)(CR)
End 0 (0A H)(LF)
Add from ADR data to the last data.
01 H +03 H +02 H +01 H +00 H +01 H =08 H

The compensate value is F8H when 2 is used to compensate 08H, so LRC is “F”,”8”.
CRC calculation of RTU mode:

RTU mode uses CRC (Cyclical Redundancy Check) error detection value.
The process of CRC error detection value calculation is shown as follows:
Step 1: Load in a 16-bit register of FFFFH, named “CRC” register.

Step 2: Run XOR calculation between the first bit (bit 0) of instruction information and 16-bit CRC register’s low bit (LSB),
and the result is saved to CRC register.
Step 3: Check the lowest bit (LSB) of CRC register, if it is 0, CRC register moves one bit to right; if it is 1, CRC register
moves one bit to right, then run XOR calculation with A001H;
Step 4: Go to step 5 till the third step has been executed for 8 times, otherwise return to step 3.
Step 5: Repeat the steps from 2 to 4 for the next bit of instruction information, the comment of CRC register is the CRC
error detection value while all the bits have been executed by the same way.
Note: After calculating out the CRC error detection value, the CRC low bit should be filled first in instruction information,
and then fill the high bit of CRC.
Please refer to the following example:
Read 2 words from the 0101H address of 01H servo. The final CRC register content calculated from ADR to the last bit of
data is 3794H, and then the instruction information is shown as follows,
Please be sure that 94H is transmitted before 37H.
ADR 01 H
CMD 03 H
01H (high-bit)
Data start address
01H (low-bit)
Data number 00 H (high-bit)
（count as word） 02H (low-bit)
CRC checking 94H (low-bit)
CRC checking 37H (high-bit)
End1、End0（Communication is complete.）
- 108 -
ASCII mode：
Communication is ended with (0DH) - [carriage return] and (0AH) - [new line].
RTU mode：
When the time exceeds the sleep interval by at least 4 bytes transmission time while in the current communication speed,
it means the communication is finished.
Example：
The following example uses C language to generate CRC value. The function needs two parameters.
unsigned char * data;
unsigned char length;
The function will return unsigned integer type CRC value.
unsigned int crc_chk(unsigned char * data,unsigned char length){

int i,j;
unsigned int crc_reg=oxFFFF;
While(length- -){
crc_ reg ^=*data++;
for(j=0;j<8;j++){
If(crc_reg & 0x01){
crc_reg=( crc_reg >>1)^0xA001;
}else{
crc_reg＝crc_reg >>1;
}
}
}
return crc_reg;
}
- 109 -
6.3.2 Communication Error Disposal
Problems that occur during communication are a result of the following:

 Data address is incorrect while reading/writing parameters.
 The data is not within the parameter setting range while writing.
 Data transmission fault or checking code fault when communication is disturbed.
When the first and second communication faults occur, the servo drive is running normally, and will feed back an error
frame.
When the third communication fault occurs, transmission data will be recognized as invalid to give up, and no error frame
is returned.
The format of error frame：
Host controller data frame：

start Slave station address Command Data address,content Checking
command
Servo drive feeds back error frame:

start Slave station address Response code Error code Checking
command＋80 H
Error frame responses code=command+80H

Error code＝00H：Normal communication
＝01H：Servo drive cannot identify the required functions
＝02H: The required data address does not exist in the servo drive
＝03H：The required data in servo drive is not allowed. (Beyond the maximum or minimum
value of the parameter)
＝04H：Servo drive starts to perform the requirement, but cannot achieve it.
For example: Servo drive axis number is 03H，write data 06Hinto parameter Pn100 is not allowed , because the range of
parameter Pn100is0~6. The servo drive will feedback an error frame, the error code is 03H (Beyond the parameter’s
maximum value or minimum value).
Host controller data frame：
start Slave station address Command Data address,content Checking
03H 06H 0002H 0006H
Servo drive feedback error frame：

start Slave station address Response code Error code Checking
03H 86H 03H
Besides, if the data frame sent from host controller slave station address is 00H, it determines the data to be broadcast
data. The servo drives will not feed back any frames.
- 110 -
6.3.3 Data Communication Address of Servo State
The communication parameter addresses are shown in the following table:
Communication data address(Hex)

Meaning Description Operation
Axis A Axis B Axis B
Corresponding Read/write
0000~0348 2000~2348 4000~4348 Parameter area parameters in
parameter list
Ten alarms historical Read only

07F1~07FA 27F1~27FA 47F1~47FA Alarm information memory area
record
07FD 27FD 47FD Iu zero offset Read only

07FE 27FE 47FE Iv zero offset Read only
Monitor data (corresponding with

0806~0816 2806~2816 4806~4816
displayed data)
0806 2806 4806 Speed feedback Unit:rpm Read only
0809 2809 4809 Internal torque reference Relative rated Read only
percentage torque
080A 280A 480A Number of encoder rotation pulses Read only
080B 280B 480B Input signal state Read only
080C 280C 480C Encoder signal state Read only
080D 280D 480D Output signal state Read only
080E 280E 480E Pulse setting Read only
080F 280F 480F Low bits of present location Unit:1 reference pulse Read only
2810 4810 High bits of present location Unit:10000 Read only
0810
reference pulses
0811 2811 4811 Error pulse counter low 16 bits Read only
0812 2812 4812 Error pulse counter high 16 bits Read only
0813 2813 4813 Setting pulse counter low bits Unit:1 reference pulse Read only
0814 2814 4814 Setting pulse counter high bits Unit:10000 reference Read only
pulses
0815 2815 4815 Load inertia percentage % Read only
0816 2816 4816 Servomotor overloading proportion % Read only
0817 2817 4817 Current alarm Read only
Donot save when Read/write

0900 2900 4900 MODBUS communication IO signal
power off.
Version is expressed by Read only
090E DSP version
digit.
Version is expressed by Read only
090F CPLD version
digit.
1021 3021 5021 Clear historical alarms 01:Clear Write only
1022 3022 5022 Clear current alarms 01:Clear Write only
- 111 -
01:Enable
1023 3023 5023 JOG servo enabled Write only
00:Disable
01:Forward rotation
1024 3024 5024 JOG forward rotation Write only
00:Stop
01:Reverse rotation
1025 3025 5025 JOG reverse rotation Write only
00:Stop
Note:
1. Parameter area（axis A 0000～0348H、axis B 2000～2348H 、axis C 4000～4348H）
Parameter address is relevant to the parameters in the parameter list.
For example, axis A parameter Pn000 is relevant to communication address 0000H; parameter Pn102 is relevant to
communication address 0066H.
2. Alarm information storage area（axis A 07F1～07FAH、axis B 27F1～27FAH、axis C 47F1～47FAH）
Historical alarm number Description Communication address
Historical alarm 1 07F1H、27F1H、47F1H
0
（the latest alarm）
07F2H ~ 07F9H 、 27F2H ~
1~8 Historical alarm 1 ~ 9
27F9H、47F2H ~ 47F9H
9 Historical alarm 10（the furthest alarm） 07FAH、27FAH、47FAH
3. Monitor data area（axis A 0806～0816H、axis B 2806～2816H、axis C 4806～4816H）

The monitor data is corresponding to servo drive panel displays Un000~Un016.
For example: the corresponding data of communication address 0807H (speed setting) is FB16H.
Therefore, the speed setting of axis A is -1258r/m.
4. MODBUS communication IO signal

Use communication to control digital IO signal. This data will not be saved after power off.
It is operated with Pn512 as the communication input IO signal. That is to say, when the parameters setting in Pn512
enable the IO bit, the IO can be controlled by communication.
5. Software version（090FH）
Use digit to represent servo drive software version. For example, if the read out data is 0100H，it means the software
version is t-1.00.
- 112 -
Chapter 7
Specifications and Characters
7.1 Servo drive Specifications and Models
ETS-1010APC-CAN/ETS-101010APC-CAN
Servo Drive Model
ETS-1010APG-CAN/ETS-101010APG-CAN
EMJ-A5A EMJ-01A EMJ-02A EMG-10A
Applicable Servomotor Model
EMJ-04A EMJ-08A EMJ-10A EML-10A
Input Main Circuit Three-phase 200~230VAC +10% -15% (50/60Hz)
Power
Control Circuit Single-phase 200～230VAC +10%～-15% (50/60Hz)
Supply
Control Method SVPWM
Incremental Wire-saving type:2500 P/R
Feedback
Serial Encoder 131072P/R/1048576P/R
Ambient/Storage
0～55℃/-20～85℃
Temperature
Ambient/Storage
Operating Conditions 90% RH (with no condensation)
Humidity
Vibration/Shock
Vibration Resistance：4.9m/s2，Impact Resistance：19.6m/s2
Resistance
Configuration Base-mounted
Rotation
Speed Direction With /P-CON signal
Selection Selection
Speed
Speed Speed 1 to 7
Control
Soft
Function Start 0～10s（Can be set individually for acceleration and deceleration.）
Setting
Sign + pulse train; CCW + CW pulse train;
Type
90°phase difference 2-phase (phase A + phase B)
Form Non-insulated linde driver (about + 5V), open collector
Pulse ×1 multiplier：4Mpps
Reference ×2 multiplier：2Mpps
Position
Control Frequency ×4 multiplier：1Mpps
Open collector：200Kpps
Frequency will begin to decline when the duty ratio error occurs..
Position
Reference Position Setting 16 position nodes can be set.
Setting
Encoder Dividing Pulses Phase-A, phase-B, phase-C, line driver output
I/O Output Number of dividing pulses：（1～16384）/16384
Signals Sequence Number of
3×8channels
Input channels
- 113 -
Signal allocations and positive/negative logic modifications:

Servo ON（/S-ON），P control（/P-CON），alarm reset（/ALM-RST），position error
Function
clear（/CLR），forward run prohibited（P-OT），reverse run prohibited（N-OT），
forward current limit（/P-CL），reverse current limit（/N-CL） and so on.
Number of
3×4channels
channels
Sequence Signal allocations and positive/negative logic modifications:
Output Positioning completion(/COIN), speed coincidence(/V-CMP),servomotor rotation
Function
detection(/TGON), servo ready(/S-RDY),torque limit output(/CLT),brake interlock
output (/BK), encoder C pulse(/PGC), Over travel/OT）and so on..
Each axis with dynamic brake function, which operated at main power OFF, servo
Dynamic Brake
alarm, servo OFF or overtravel.
Overcurrent, overvoltage, low voltage, overload, regeneration error,
Protection Functions
overspeed,etc.
Internal
Utility Function Alarm trace back, JOG operation, load inertia detection, etc.
Functions
RS-485 communication port, MODBUS protocol, CAN communication port,
Communication Functiion
CANopen protocol;
Display Function CHARGE×1 , power ×1 ,Axis LED ×3, 7-segment LEDS ×5, pushbutton×5
- 114 -
7.2 Servo drive Dimensional Drawings
- 115 -
Appendix A
Parameter
A.1 Parameter List

Name Unit
Binary
Pn000.0：Servo ON
Pn000.1：Forward rotation input signal
prohibited（P-OT）
Pn000 — 0~1111 0 After restart
Pn000.2：Reverse rotation input signal
prohibited（N-OT）
Pn000.3：Alarm output when
instantaneous power loss
Binary
Pn001.0：CCW,CW selection
Pn001 Pn001.1：Reserved — 0~1111 0 After restart
Pn001.2：Reserved
Pn001.3：2nd electronic gear enabled
Binary
Pn002.0：Electronic gear switching mode
Pn002.2：Reserved
Pn002.3：Reserved
Binary
Pn003.0：Reserved
Pn003.2：Low speed compensation
Pn003.3：Overload enhancement
Hex
Pn004.0:Stop mode
Pn004 Pn004.1: Error counter clear mode — 0~0x3425 0x0000 After restart
Pn004.2:Reference pulse form
Pn004.3: Inverses pulse
- 116 -

Name Unit
Hex
Pn005.0:Torque feedforward mode
Pn005.1:Control mode
[0] Speed control(parameter reference)
[1] Position control(pulse train)
[2] Speedcontrol(contactreference)
[3]Speed control(contact reference)←→
Pn005 — 0~0x3361 0x0000 After restart
position control(pulse train)
[4] Position control(pulse train)←→
position control(inhibit)
[5] Position control (contact reference)
[6] Reserved
Pn005.2:Out-of-tolerance alarm selection
Pn005.3:Servomotor model
Hex
Pn006.0:Bus mode
Pn006.1:Reserved
Pn006 Pn006.2: Low-frequency vibration — 0~0x2203 0x0000 After restart
suppression switch
Pn006.3:Reference input filter for open
collector signal
Binary
Pn007.0： Wider the width of C pulse or
not
Pn007 — 0~0x1111 0x0000 After restart
Pn007.1：Reserved
Pn007.2：Reserved
Pn007.3：Torque filter
Binary
Pn009.0：Reserved
Pn009 Pn009.1：Reserved — 0~0100 0x0000 After restart
Pn009.2：Electronic gear selection
Pn009.3：Reserved
Online autotuning setting
0:Manual gain adjustment
1,2,3=Normal mode;4,5,6=Vertical load
1,4 = Load inertia without variation;
2,5 = Load inertia with little variation;
3,6=Load inertia with great variation
Pn101 Machine rigidity setting — 0~15 5 Immediately
Pn102 Speed loop gain Hz 1~4000 320 Immediately
Pn103 Speed loop integral time constant 0.25ms 1~4096 40 Immediately
Pn104 Position loop gain Hz 0~1000 40 Immediately
Pn105 Torque reference filter time constant 0.025ms 0~2500 40 Immediately
Pn106 Load inertia percentage — 0~20000 0 Immediately
- 117 -

Name Unit
Pn107 2nd speed loop gain Hz 1~4000 320 Immediately
Pn108 2nd speed loop integral time constant 0.25ms 1~4096 40 Immediately
Pn109 2nd position loop gain Hz 0~1000 40 Immediately
Pn110 2nd torque reference filter time constant 0.025ms 0~2500 40 Immediately
Pn111 Speed bias rpm 0~300 0 Immediately
Pn112 Feedforward % 0~100 0 Immediately
Pn113 Feedforward filter 0.25ms 0~640 0 Immediately
Pn114 Torque feedforward % 0~100 0 Immediately
Pn115 Torque feedforward filter 0.25ms 0~640 0 Immediately
P/PI switching condition
0:Torque reference percentage
1:Value of offset counter
2:Value of acceleration speed setting
3:Value of speed setting
4:Fixed PI
Pn117 Torque switching threshold % 0~300 200 Immediately
reference
Pn118 Offset counter switching threshold 0~10000 0 Immediately
pulse
Setting acceleration speed switching
Pn119 10rpm/s 0~3000 0 Immediately
threshold
Pn120 Setting speed switching threshold rpm 0~10000 0 Immediately
Gain switching condition
0:Fix to 1st group gain
1:External switch gain switching
2:Torque percentage
Pn121 3:Value of offset counter — 0~7 0 After start
4:Value of acceleration speed setting
6:Speed reference input
7: actual motor speed
Pn122 Switching delay time 0.25ms 0~20000 0 Immediately
Pn123 Threshold switching level — 0~20000 0 Immediately
Pn124 Reserved — — — —
Pn125 Position gain switching time 0.25ms 0~20000 0 Immediately
Pn126 Hysteresis switching — 0~20000 0 Immediately
Pn127 Low speed detection filter 025ms 0~100 10 Immediately
Speed gain acceleration relationship Immediately
Pn128 — 0~3 3
during online autotuning
Pn129 Low speed correction coefficient — 0~30000 0 Immediately
Pn130 Friction load 0.1% 0~3000 0 Immediately
Friction compensation speed hysteresis Immediately
Pn131 rpm 0~100 0
area
Pn132 Sticking friction load 0.1%/1000rp 0~1000 0 Immediately
- 118 -

Name Unit
m
Pn200 PG divided ratio Puls 1~16384 16384 After restart
Pn201 1st electronic gear numerator — 1~65535 1 After restart
Pn202 Electronic gear denominator — 1~65535 1 After restart
Pn203 2nd electronic gear numerator — 1~65535 1 After restart
Position reference Acceleration
Pn204 0.25ms 0~32767 0 Immediately
/deceleration time constant
Pn205 Position reference filter form selection — 0~1 0 After restart
Pluse input port and synchronization mode
Pn206 — 0~0x0033 0 After restart
selection
Pn304 Parameter speed rpm -6000~6000 500 Immediately
Pn305 JOG speed rpm 0~6000 500 Immediately
Pn306 Soft start acceleration time ms 0~10000 0 Immediately
Pn307 Soft start deceleration time ms 0~10000 0 Immediately
Pn308 Speed filter time constant ms 0~10000 0 Immediately
Pn309 S curve risetime ms 0~10000 0 Immediately
Speed reference curve form
0:Slope
Pn310 1:S curve — 0~3 0 After restart
st
2:1 order filter
3:2nd order filter
Pn311 S form selection — 0~3 0 Immediately
Pn316 Internal speed 1 rpm -6000~6000 100 Immediately
Pn319 Internal speed 4 rpm -6000~6000 -100 Immediately
Pn401 1
Forward torque internal limit○ % 0~300 300 Immediately
Pn402 1
Reverse torque internal limit○ % 0~300 300 Immediately
Pn403 1
Forward external torque limit○ % 0~300 100 Immediately
Pn404 1
Reverse external torque limit○ % 0~300 100 Immediately
Pn405 Plug braking torque limit % 0~300 300 Immediately
Pn406 Speed limit during torque control rpm 0~6000 1500 Immediately
Pn407 Notch filter 1 frequency Hz 50~2000 2000 Immediately
Pn408 Notch filter 1 depth — 0~11 1 Immediately
Pn409 Notch filter 2 frequency Hz 50~2000 2000 Immediately
Pn410 Notch filter 2 depth — 0~11 1 Immediately
Pn411 Low frequency jitter frequency 0.1Hz 50~500 100 Immediately
Pn412 Low frequency jitter damp — 0~200 25 Immediately
Pn413 Torque control delay time 0.25ms 1~2000 100 Immediately
Pn414 Torque control speed hysteresis rpm 10~1000 50 Immediately
- 119 -

Name Unit
Pn500 Positioning error Puls 0~5000 10 Immediately
Pn501 Coincidence difference rpm 0~100 10 Immediately
Pn503 Rotation detection speed TGON rpm 0~3000 20 Immediately
Pn504 Offset counter overflow alarm 256Puls 1~32767 1024 Immediately
Pn505 Servo ON waiting time ms -2000~2000 0 Immediately
Pn506 Basic waiting flow 10ms 0~500 0 Immediately
Pn507 Brake waiting speed rpm 10~100 100 Immediately
Pn508 Brake waiting time 10ms 10~100 50 Immediately
Pn509 Allocate input signal to terminal — 0~0xEEEE 0x3210 After restart
Pn510 Allocate input signal to terminal — 0~0xEEEE 0x7654 After restart
Pn511 Allocate output signal to terminal — 0~0x0999 0x0210 After restart
Pn512 Bus control input node low-bit enable — 0~1111 0 Immediately
Pn513 Bus control input node low-bit enable — 0~1111 0 Immediately
Pn514 Input port filter 0.2ms 0~1000 1 Immediately
Pn515 Alarm port filter 0.2ms 0~3 1 Immediately
Pn516 Input port signal inversion — 0~1111 0 Immediately
Pn517 Input port signal inversion — 0~1111 0 Immediately
Pn518 Dynamic brake time 0.5ms 50~2000 125 Immediately
Pn520 Position complete time 0.25ms 0~60000 500 Immediately
Pn525 Overload alarm threshold % 100~150 100 Immediately
Pn528 Output signal inverse — 0~1111 0 Immediately
Torque detection output signal threshold
Pn529 % 3~300 100 Immediately
value
Pn530 Torque detection output signal time ms 1~1000 10 After restart
Pn600 Position pulse in point to point control 10000P -9999~9999 0 Immediately
……
Pn632 Point to point speed control rpm 0~3000 500 Immediately
……
Pn647 Point to point speed control rpm 0~3000 500 Immediately
Pn648 Point to point1st order filter 0.25ms 0~32767 0 Immediately
……
Pn663 Point to point1st order filter 0.25ms 0~32767 0 Immediately
- 120 -

Name Unit
Pn664 Stop time 50ms 0~300 10 Immediately
……
Pn679 Stop time 50ms 0~300 10 Immediately
Hex
Pn681.0:Single/cyclic, start/reference point
selection
Pn681 — 0x0133 0x0000 Immediately
Pn681.1:Change step and start mode
Pn681.2:Change step input signal mode
Pn681.3:Reserved
Pn682 Programme mode — 0~1 0 Immediately
Pn683 Programme start step — 0~15 0 Immediately
Pn684 Programme stop step — 0~15 1 Immediately
Search travel speed in position control
(contact reference); Speed of finding
Pn685 rpm 0~3000 1500 Immediately
reference point (hitting the origin signal
ORG) in position homing control.
Leave travel switch speed in position
control(contact reference);
Pn686 Speed of finding reference point (leaving rpm 0~200 30 Immediately
the origin signal ORG) in position homing
control.
Pn687 Position teaching pulse 10000P -9999~9999 0 Immediately
Pn688 Position teaching pulse 1P -9999~9999 0 Immediately
Pn689 Homing Mode Setting — 0~0111 0 After restart
Pn690 Number of error pulses during homing 10000pulse 0~9999 0 Immediately
Pn691 Number of error pulses during homing 1pulse 0~9999 0 Immediately
Hex
Pn700.0:MODBUS communication baud
rate
Pn700 Pn700.1:MODBUS protocol selection — 0~0x0182 0x0151 After restart
Pn700.2:Communication protocol
selection
Pn700.3:Reserved
Pn701 MODBUS axis address — 1~247 1 After restart
Pn703 CAN communication speed — 0x0015 0x0004 After restart
Pn704 CAN communication contact — 1~127 1 After restart
Pn705 32 bit 1st electronic gear numerator (H) — 0~9999 0 After restart
Pn706 32 bit 1st electronic gear numerator (L) — 0~9999 1 After restart
Pn707 32 bit electronic gear denominator (H) — 0~9999 0 After restart
Pn708 32 bit electronic gear denominator (L) — 0~9999 1 After restart
Pn709 32 bit 2nd electronic gear numerator (H) — 0~9999 0 After restart
- 121 -

Name Unit
Pn710 32 bit 2nd electronic gear numerator (L) — 0~9999 1 After restart
Hex
Pn840.0：Encoder model selection
0x0003
Pn840 Pn840.1：Reserved — — After restart
~0x0F29
Pn840.2：Power level of Machine
Pn840.3：Reserved
Note: ○1 The setting range and factory setting of Pn401 to Pn405 depend on the actual overload
capacity.
A.2 Description of Parameter Type
Type Parameter No. Description
Funtion selection switches Pn000~Pn009 Control mode, stop mode, and some functions selection
Parameters of servo gain Pn102~Pn134 Position gain, speed gain,rigidity,etc.
Position control related parameters Pn200~Pn206 PG divided ratio, electronic gear, etc.
Speed control related parameters Pn304~Pn322 Speed reference input, soft start, etc.
Torque control related parameters Pn401~Pn410 Torque limit, etc.
Parameters to control I/O port Pn500~Pn528 Allocation of I/O port function
Point-to-point control and homing control Pn600~Pn688 Internal point-to-point control and homing control related
related parameters parameters
Communication parameters Pn700~Pn704 Setting of communication parameters
- 122 -
A.3 Parameters in detail
Parameter Setting Control

Description Function and Meaning
No. Validation Mode
Pn000.0 Servo ON
[0] External S-ON enabled.
[1]External S-ON disabled. Servomotor excitation
signal is turned ON automatically after S-RDY is
output.
Pn000.1 Forward rotation input signal prohibited
（P-OT）
[0]External P-OT enabled. Operate in the time
sequence setting in Pn004.0 when travel limit occurs.
[1] External P-OT disabled.
Pn000 Binary After restart ALL Pn000.2 Reverse rotation input signal prohibited
(N-OT)
[0]External N-OT enabled. Operate in the time
sequence setting in Pn004.0 when travel limit occurs.
[1] External N-OT disabled.
Pn000.3 Alarm output when instantaneous power
loss
[0]Instantaneous power loss for one period with no
alarm output
[1]Instantaneous power loss for one period withalarm
output
Pn001.0CCW,CW selection
Pn001.0 [0] Sets CCW as forward direction
ALL [1] Sets CW as forward direction
Pn001.1 Pn001.1 Reserved
T Pn001.2 Reserved
Pn001 Binary After restart
Pn001.2 Pn001.3 2nd electronic gear enabled
P，S [0]Without 2nd electronic gear, PCON signal is used
Pn001.3 toswitch P/PI
P [1]2nd electronic gear is enabled, PCON signal is only
used as2nd electronic gear when Pn005.3 is set to 1.
Pn002.0Electronic gear switching mode
[0]Corresponding time sequence
Pn203
Pn201 Electronic gear numerator 2 Pn201
Electronic gear numerator 1 PCON enabled Electronic gear numerator 1
PCON disabled PCON disabled
Pn002 Binary After restart ALL
Reference pulse
t1 t2
t1，t2>1ms
[1] Corresponding time sequence
- 123 -

No. Validation Mode
Pn203
Electronic gear numerator 2 Pn201
Pn201
Reference pulse
t1 t2
t1，t2>1ms
Time sequence when Pn002.0=0 or 1

Pn203
Reference pulse
t1 t2 t3 t4
t1，t2，t3，t4>1ms
Error time sequence
Pn203
Reference pulse
t1 t2
t1，t2>1ms
Pn002.1Reserved
Pn002.2 Reserved
Pn002.3 Reserved
Pn003.0 Reserved
Pn003.1Reserved
Pn003.2 Low speed compensation
[0] Without low speed correction
[1]With low speed correction to avoid servomotor
creeping, but the degree of correction is
Pn003 Binary After restart ALL determined by the setting in Pn219.
Pn003.3 Overload enhancement
[0] Without overload enhancement function
[1]With overload enhancement function, which can
enhance the overload capacity when servomotor
exceeds the 2 times rated overload. It is used in
frequent power ON/OFF occasions.
Pn004.0 Stop Mode
Pn004.0
[0]Stops the servomotor by applying DB and then
ALL
releases DB.
Pn004.1
[1]Coast to a stop.
P
Pn004 Hex After restart [2]Stops the servomotor by DB when servo OFF,
Pn004.2
stops the servomotor by plug braking when overtravel,
P
then places it into coast (power OFF) mode.
Pn004.3
[3]Makes the servomotor coast to a stop state when
P
servo OFF, stops the servomotor by plug braking
- 124 -

No. Validation Mode
when overtravel, then places it into coast (power OFF)
mode.
[4]Stops the servomotor by DB when servo OFF,
stops the servomotor by plug braking when overtravel,
then places it into zero clamp mode.
[5]Makes the servomotor coast to a stop state when
servo OFF, stops the servomotor by plug braking
when overtravel, then places it into zero clamp mode.
Pn004.1 Error counter clear mode
[0]Clearerror pulse when S-OFF, donot when
overtravel.
[1]Do not clear error pulse.
[2]Clearerror pulse when S-OFF orovertravel
(excep for zero clamp)
Pn004.2 Reference pulse form
[0]Sign + Pulse
[1]CW+CCW CW + CCW
[2]A + B (×1)
[3]A + B (×2)
[4]A + B (×4)
Pn004.3 Inverses pulse
[0]Do not inverse PULS reference and SIGN reference.
[1]Do not inverse PULS reference; Inverses SIGN
reference.
[2]Inverse PULS reference;Do not inverse SIGN
reference.
[3]Inverse PULS reference and SIGN reference.
Pn005.0 Torque feedforward form
[0]Usegeneral torque feedforward
[1] Usehigh-speed torque feedforward
Pn005.1 Control mode
[0]Speed control(Parameter reference)
PCON is invalid.
Pn005.0
[1]Position control(pulse train reference)
P，S
PCON：OFF，PI control；ON，P control
Pn005.1
Pn005 Hex After restart [2]Speed control(contact reference)←→speed
ALL
Control(zero reference)
Pn005.2
PCON ， PCL ， NCL ： OFF Switches to position
P
control(zero reference)
[3]Speed control(contact reference)←→position
control(pulse train reference)
PCON ， PCL ， NCL ： OFF Switches to position
control(pulse train reference)
[4]Positin control(pulse train reference) ← → position
- 125 -

No. Validation Mode
control(INHIBIT)
PCON：OFF Position control(pulse train
reference)；ON position control(INHIBIT)
[5]Position control(contact reference)
PCON： Used to change step
PCL，NCL：Used to search reference point or start
[6] Reserved
Pn005.2 Out-of-tolerance alarm selection
[0]Out-of-tolerance alarm disabled
[1]Out-of-tolerance alarm enabled. Outputs alarm
when the value of error counter exceeds Pn504
setting value.
[2] Reserved
[3] Reserved
Pn005.3 Servomotor model selection①
[0]EMJ
[1]EMG
[2] EML
Pn006.0 Bus type selection
[0]No bus
[1] Reserved
[2] Reserved
[3]CANopen
Pn006.1 Reserved
Pn006.2Low-frequency vibration suppression
switch
[0]Low-frequency vibration suppression function
disabled
[1]Speed low-frequency vibration suppression function
Pn006 Hex After restart
enabled
[2]Position low-frequency vibration suppression
function enabled
Pn006.3 Reference input filter for open collector
signal
[0] When pulse is difference input, the max value of
2 ≤4M
servo receiving pulse frequency○
2 ≤650K
2 ≤150K
Pn007.0：Wider the width of C pulse or not
[0] Standard width of C pulse
Pn007 Binary After restart
[1] Wider the width of C pulse
Pn007.1：Reserved
- 126 -

No. Validation Mode
Pn007.2：Reserved
Pn007.3：Torque filter
[0] Standard torque filter
[1] New torque filter
Pn009.0：Reserved
Pn009.1：Reserved
Pn009.2：Electronic gear selection
Pn009 Binary After restart P
[0] 16 bit electronic gear
[1] 32 bit electronic gear
Pn009.3：Reserved
[0] Manual gain adjustment
[1,2,3] Normal mode
[4,5,6] Vertical load
[1,4] Load inertia without variation
[2,5] Load inertia with little variation
[3,6] Load inertia with great variation
Note：
1.Autotuning is invalid when servomotor max.speed is
Online autotuning less than 100rpm.Manual gain adjustment is used.
Pn100 After restart P，S
setting 2.Autotuning is invalid when servomotor acceleration
/deceleration speed is less than 5000rpm/s. Manual
gain adjustment is used.
3.Autotuning is invalid when mechanical clearance is
too big during operation. Manual gain adjustment is
used.
4.Autotuning is invalid when the difference of different
speed load is too great. Manual gain adjustment is
used.
The response speed of servo system is determined by
this parameter. Normally, the rigidity should be set a
Machine rigidity little larger. However, if it is too large, it would suffer
Pn101 Immediately P，S
setting mechanical impact. It should be set a little smaller
when large vibration is present. This parameter is only
valid in autotuning.
This parameter determines speed loop gain.
Pn102 Speed loop gain Immediately P，S
Unit: Hz
Decreases the value of this parameter to shorten
Speed loop integral
Pn103 Immediately P，S positioning time and enhance speed response.
time constant
Unit: 0.25ms
This parameter determines position loop gain.
Decreases this value to enhance servo rigidity, but
Pn104 Position loop gain Immediately P
vibration will occur if the value is too large.
Unit: 1/s
Pn105 Torque reference Immediately P，S Torque reference filter can eliminate or lighten
- 127 -

No. Validation Mode
filter time constant mechanical vibration, but incorrect setting will result to
mechanical vibration.Unit:0.025ms
Load inertia Setting value=(load inertia/rotor inertia)  100
percentage Unit: %
Pn107 2nd speed loop gain Immediately P，S
2nd speed loop
Pn108 Immediately P，S The meanings of these parameters are the same as
integral time constant
Pn102~Pn105.
2nd position loop
Pn109 Immediately P These parameters are only needed to set when two
gain
types of gain function are enabled.
2nd torque reference
filter time constant
This parameter setting can shorten positioning time.
However, if it is too large or does not cooperate with
Pn111 correctly, vibration will occur.
The relationship with speed reference, error counter,
positioning error is shown in the following chart.
Speed reference
Pn111 Speed bias Immediately P

Pn111
Pn500
Error counter
Pn111
Pn500
It is used to set position feedforward. The response

speed is faster and position error is less when this
Pn112 Feedforward Immediately P parameter setting is higher. Vibration will occur if the
value is set too large.
Unit: %
It is used to ease mechanical vibration due to position
feedforward. The feedforward lag will be enlarged and
Pn113 Feedforward filter Immediately P
result to vibration if the value is set too large.
Unit: 0.25ms
It is used to set torque feedforward, and enhance
response speed.
Pn114 Torque feedforward Immediately P，S Set the load inertia percentage(Pn106) correctly to
enable this function in manual gain adjustment mode.
Unit: %
It is used to ease mechanical vibration due to torque
Torque feedforward
Pn115 Immediately P，S feedforward.
filter
Unit: 0.25ms
- 128 -

No. Validation Mode
0:Torque reference percentage
P/PI switching
Pn116 After restart P，S 2:Value of acceleration speed setting
condition
4:Fixed PI
Torque switching Threshold of torque to switch PI control to P control.
threshold Unit: %
Threshold of error counter to switch PI control to P
Offset counter
Pn118 Immediately P control.
switching threshold
Unit: pulse
Setting acceleration Threshold of acceleration speed to switch PI control to
Pn119 speed switching Immediately P，S P control.
threshold Unit: 10rpm/s
Setting speed Threshold of speed to switch PI control to P control.
switching threshold Unit: rpm
0:Fix to 1st group gain
1:External switch gain switching(G-SEL)
2:Torque percentage
Gain switching
Pn121 condition After restart P，S
4:Value of acceleration speed setting（10rpm）
6:Speed reference input
7: actual motor speed
Delay time of switching gain when switching condition
Pn122 Switching delay time Immediately P，S
is satisfied.
Pn123 Switch threshold level Immediately P，S Gain switching trigger level
Position gain This parameter is used to smooth transition if the
Pn125 Immediately P
switching time change of the two groups of gain is too large.
This parameter is used to set the operation hysteresis
Pn126 Hysteresis switching Immediately P，S
of gain switching.
This parameter is used to filter in low speed detection.
Low speed detection
Pn127 Immediately P，S The speed detection will be lagged if the value is too
filter
large.
Speed gain The increasing multiple of speed loop gain is the same
acceleration rigidity during online autotuning. The speed loop gain
relationship during is larger when this value is higher.
online autotuning
Low speed correction The intensity of anti-friction and anti-creeping at low
coefficient speed. Vibration will occur if this value is set too large.
Pn130 Friction Load Immediately P，S Frictin load or fixed load compensation
Friction
Pn131 compensation speed Immediately P，S Threshold of friction compensation start
hysteresis area
Pn132 Sticking friction load Immediately P，S Sticking damp which is in direct proportion to speed.
- 129 -

No. Validation Mode
Analog encoder output orthogonal difference pulses.
PG divided The meaning of this value is the number of analog
ratio encoder output orthogonal difference pulses per one
servomotor rotation.
1st electronic gear The electronic gear enables the reference pulse to
Pn201 After restart P
numerator relate with the servomotor travel distance, so the host
Electronic gear controller doesn't change the mechanical deceleration
denominator ratio and encoder pulses. In fact, it is the setting of
frequency doubling or frequency division to the
2nd electronic gear reference pulses.
numerator Numerator ( Pn 201 or Pn 203)
Deno min ator ( Pn 202)
Position reference
This value is used to smooth the input pulses. The
acceleration
Pn204 Immediately P effect of smoothness is better when the value is
/deceleration time
higher, but lag will occur if the value is too large.
constant
Position reference [0]：1st order filter
filter form selection [1]：2nd order filter
Pn206.0 Pluse input port selection
[0]：use pluse input themselves
[1]：use A-axis pluse input port
[2]：use B-axis pluse input port
[3]：use C-axis pluse input port
Pn206.1 Synchronize selection
[0]: A-axis and B-axis use the same pluse input port
setted by Pn206.0, C-axis use C-axis pluse input
Pn206 Pluse input selection After restart P port
[1]: A-axis and C-axis use the same pluse input port
setted by Pn206.0, B-axis use B-axis pluse input
port
[2]: B-axis and C-axis use the same pluse input port
setted by Pn206.0, A-axis use A-axis pluse input
port
[3]: A-axis, B-axis and C-axis use the same pluse
input port
Speed reference
Pn300 Immediately S The corresponding speed to 1V analog input
input gain
The parameter can be set to positive or negative.
When control mode is set to D, it determines the
Pn304 Parameter speed Immediately S speed of motor .
The servomotor speed is determined by this
parameter when Pn005.1=D.
It is used to set JOG rotation speed, and the direction
Pn305 JOG speed Immediately S
is determined by the pressing key during JOG
- 130 -

No. Validation Mode
operation.
Soft start acceleration The time for trapeziform acceleration to accelerate to 1000rpm.
Pn306 Immediately S
time Unit: ms
The time for trapeziform deceleration to decelerate to
Soft start
Pn307 Immediately S 1000rpm.
deceleration time
Unit: ms
Speed filter time 1st order filter time constant
Pn308 Immediately S
constant Unit: ms
S curve The time for transition from one point to another point
Pn309 Immediately S
risetime in S curve.
0:Slope
Speed reference
1:S curve
Pn310 curve form After restart S
2:1st order filter
3:2nd order filter
Pn311 S formselection After restart S This value determines the transition form of S curve.
Pn316 Speed internal 1 Immediately S Internal speed is enabled when Pn005.1=3~6
Pn317 Speed internal 2 Immediately S Input signal operating speed
Pn318 Speed internal 3 Immediately S
/P-CON /P-CL /N-CL
Pn319 Speed internal 4 Immediately S
Pn320 Speed internal 5 Immediately S OFF(H) OFF(H) OFF(H) Zero speed or switch
Pn321 Speed internal 6 Immediately S to other control modes
OFF(H) ON(L) SPEED1
ON(L) OFF(H) SPEED2
ON(L) ON(L) SPEED3

Immediately
Pn322 Speed internal 7 S ON(L) OFF(H) OFF(H) SPEED4
OFF(H) ON(L) SPEED5
ON(L) OFF(H) SPEED6
ON(L) ON(L) SPEED7

Forward torque
internal limit
Reverse torque
internal limit
Forward external Servomotor output torque limit value（depending on
torque limit the actual overload capacity）.
Reverse external
torque limit
Plug braking torque
limit
Speed limit during Servomotor output torque limit value during torque
Pn406 Immediately T
torque control control
Notch filter 1 1. In some conditions,
Pn407 Immediately P，S Notch filter 1 frequency
frequency vibration will be picked
- 131 -

No. Validation Mode
Pn408 Notch filter 1 depth Immediately P，S Notch filter 1 depth up and response will be
Notch filter 2 lagged after notch filter
Pn409 Immediately P，S Notch filter 2 frequency
frequency is set.
2. When notch filter
frequency is set to
Pn410 Notch filter 2 depth Immediately P，S Notch filter 2 depth
5000, the notch filter is
invalid.
Low frequency
Pn411 Immediately P，S Frequency of low frequency vibration with load.
vibration frequency
Low frequency Attenuation damp of low frequency vibration with load.
vibration damp It does not need to change.
Torque control delay
Pn413 Immediately T
time These parameters are only enabled in position control
Torque control speed mode.
Pn414 Immediately T
hysteresis
Outputs /COIN signal when error counter is less than
Pn500 Positioning error Immediately P
this value.
Outputs /VCMP signal when the difference between
Coincidence
Pn501 Immediately P speed reference value and speed feedback value is
difference
less than this value.
The servomotor is locked in the form of temporary
Pn502 Zero clamp speed Immediately S position loop when the speed corresponding to the
analog input is less than this value.
When the servomotor speed exceeds this parameter
Rotation detection
Pn503 Immediately P，S setting value, it means that the servomotor has
speed TGON
already rotated steadily and outputs /TGON signal.
When the value in error counter exceeds this
Offset counter
Pn504 Immediately P parameter setting value, it means that error counter
overflow alarm
alarm has occurred and outputs alarm an signal.
These parameters are only enabled when the port

Servo ON waiting output parameters are allocated with /BK signal
time output.
These parameters are used to keep braking (prevent
from gravity glissade or continuous outside force on
servomotor) time sequence.
Pn506 Basic waiting flow Immediately P，S Servo ON waiting time：
○
1 For the parameter is plus,/BK signal is output firstly
when servo-ON signal is input, and then servomotor
excitation signal is created after delaying the
parameter setting time.
Pn507 Brake waiting speed Immediately P，S
○
2 For the parameter is minus, servomotor excitation
signal is output firstly when servo-ON signal is input,
- 132 -

No. Validation Mode
and then /BK signal is created after delaying the
parameter setting time.
Basic waiting flow:
Standard setting: /BK output (braking action) and
servo-OFF are at the same time.
Now, the machine movable part may shift slightly due
to gravity according to mechanical configuration and
character; it can be eliminated by using the
parameters when the servomotor is at stop or at a low
Pn508 Brake waiting time Immediately P，S speed.
Brake waiting speed:
/BK signal is output when the servomotor speed is
decreased below the parameter setting value at
servo-OFF.
Brake waiting time：
BK signal is output when the delay time exceeds the
parameter setting value after servo-OFF.
/BK signal is output as long as either of the brake
waiting speed or brake waiting time is satisfied.
Allocate input port to Pn509.0 corresponding port CN1_A/B/C_10
Pn509 signal, one port with After restart P，S Pn509.1 corresponding port CN1_A/B/C_11
four bits(hex) Pn509.2 corresponding port CN1_A/B/C_12
Pn509.3 corresponding port CN1_A/B/C_13
Corresponding signal of each data is shown as
following：
0：S-ON
1：P-CON
2：P-OT
Allocate input port to
3：N-OT
Pn510 signal, one port with After restart P，S
4：ALMRST
four bits(hex)
5：CLR
6：P-CL
7：N-CL
8：G-SEL
9：JDPOS-JOG+
A：JDPOS-JOG-
B：JDPOS-HALT
C：HmRef
D：SHOM
E：ORG
- 133 -

No. Validation Mode
Pn511.0 corresponding port CN1_A/B/C_7 ，
CN1_A/B/C_8
CN1_A/B/C_2
CN1_A/B/C_6
Corresponding signal of each data is shown as
follows:
Pn511 Output signal 0：/COIN/VCMP
After restart P，S
allocation 1：/TGON
2：/S-RDY
3：/CLT
4：/BK
5：/PGC
6：OT
7：/RD
8：/HOME
9: /TCR
Bus communication input port enabled:
[0]：Disabled
Bus control input
Pn512 Immediately P，S [1]：Enabled
node low-bit enabled
Pn512.0CN1_A/B/C_10
Pn512.1 CN1_A/B/C_11
Pn512.2 CN1_A/B/C_12
Pn512.3 CN1_A/B/C_13
Bus control input Pn513.0 CN1_A/B/C_14
node low-bit enabled Pn513.1 CN1_A/B/C_15
Pn513.2 CN1_A/B/C_16
Pn513.3 CN1_A/B/C_17
It is used to set input port filter time. The signal will be
Pn514 Input port filter Immediately P，S
lagged if the parameter setting is too high.
It is used to set alarm filter time. The signal will be
Pn515 Alarm port filter Immediately P，S
lagged if the parameter setting is too high
[0]：Do not inverse signal.
Input port signal [1]：Inverse signal
Pn516 inversion Immediately P，S Pn516.0CN1_A/B/C_10 inversion
Pn516.1CN1_A/B/C_11 inversion
Input port signal Pn517.0CN1_A/B/C_14 inversion
Pn517 inversion Immediately P，S Pn517.1CN1_A/B/C_15 inversion
Pn518 Dynamic brake time Immediately P，S Dynamic brake time
- 134 -

No. Validation Mode
Pn519 Reserved — — —
Position complete
Pn520 Immediately P,S Position complete time
time
When load percentage is larger than overload alarm
Overload alarm
threshold, A04 will occur soon.
Pn525 threshold Immediately P，S
Pn525 is recommended to set below 120, otherwise
the servo drive and motor will be damaged.
[0]：Do not inverse signal.

[1]：Inverse signal
Pn528 Output signal inverse — — Pn528.0CN1_A/B/C_3,4 inversion

Pn528.0CN1_A/B/C _7,8 inversion
Pn528.0CN1_A/B/C _1,2inversion
Pn528.0CN1_A/B/C _5,6 inversion
Torque detection When motor torque output is higher than Pn529

setting value,/TCR is ON. When motor torque output is
Pn529 output signal Immediately P，S，T
lower than Pn529 setting value,/TCR is OFF.
threshold value
Unit:%
Torque detection
Pn530 After restart P，S，T Torque detection output signal time. Unit:ms
output signal time
JPOS0 Position pulse The two parameters are used in combination, and the
Pn600 in point to point Immediately P algebraic sum of them is the position JPOS0 needs to
control reach.(Thenumber of servomotor rotation revolutions
is related with the programme mode of point to point
JPOS0
control.)
Pn601 Position pulse in Immediately P
Pn600 Unit：10000P
point to point control
Pn601 Unit：1P
The meaning of other point to point control related
……
parameters are the same.
JPOS15 Position The two parameters are used in combination, and the
Pn630 pulse in point to point Immediately P algebraic sum of them is the position of JPOS0 needs
control to reach.(The number of servomotor rotation
JPOS15 Position revolutions is related with the programme mode of
Pn631 pulse in point to point Immediately P point to point control.)
control
JPOS0 Point to point JPOS0 Point to point speed control
Pn632 Immediately P
speed control Unit：rpm
…… The speed of other point to point control
- 135 -

No. Validation Mode
JPOS15 Point to The speed of JPOS15 point to point control
Pn647 Immediately P
point speed control Unit：rpm
JPOS0
1st order filter time of JPOS0 point to point control can
Pn648 Point to point Immediately P
stop or start the servomotor mildly.
1st orderfilter
…… 1st order filter of other point to point control.
JPOS15 Point to 1st order filter time of JPOS15 point to point control
Pn663 Immediately P
point 1st orderfilter can stop or start the servomotor mildly.
JPOS0 point to point JPOS0 point to point control stop time
Pn664 Immediately P
control stop time Unit：50ms
…… Other point to point control stop time
JPOS15 point to
JPOS15 point to point control stop time
Pn679 point control stop Immediately P
Unit：50ms
time
Pn681.0 Single/cyclic, start/reference point selection
[0] Cyclic operation, PCL start signal, NCL search
reference point in forward direction.
[1] Single operation, PCL start signal, NCL search
[2] Cyclic operation, NCL start operation, PCL search
[3] Single operation, NCL start operation, PCL
search reference point in forward direction.
Pn681.1 Change step and start mode
[0] Delay to change step, no need of start signal, delay
to start after S-ON.
[1] PCON change step, no need of start signal, PCON
Pn681 Hex Immediately P
delay to start after S-ON, but inside pulse can not
stop when PCON off.
[2] Delay to change step, need start signal, canceling
start signal can immediately stop inside pulse.
Return to programme start point process step when
reset.
[3] PCON change step, need start signal, canceling
start signal can immediately stop inside pulse. Return
to programme start point process step when reset.
Pn681.2 Change step input signal mode
[0] Change step input signal electrical level mode
[1] Change step input signal pulse mode
Pn681.3 Reserved
[0] ：Incremental programme
Pn682 Programme mode Immediately P
[1]：Absolute programme
Pn683 Programme start step Immediately P Select the start point of the point to point control
Pn684 Programme stop step Immediately P Select the stop point of the point to point control.
Search travel speed Search the servomotor speed in the direction of
Pn685 Immediately P
in position reference point towards travel switch.
- 136 -

No. Validation Mode
control (contact
reference);
Speed of finding
reference point
(Hitting the
origin signal ORG) in
position homing
control.
Leave travel switch
speed in position
control (contact
reference);
Speed of finding Search the servomotor speed when the reference
Pn686 Immediately P
reference point point leaves travel switch.
(Leaving the
origin signal ORG) in
position homing
control.
Position teaching The two parameters are used in combination, and the
Pn687 Immediately P
pulse algebraic sum of them is the current position of
position teaching. When performing the position
teaching by utility function, the algebraic sum of the
Position teaching
Pn688 Immediately P two parameters are given to the current position
pulse
Pn687 unit：10000P
Pn688 unit：1P
Pn689.0 Homing Mode
[0]Homing in the forward direction
[1]Homing in the reverse direction
Pn689.1 Search C-Pulse Mode
[0]Return to search C-Pulse when homing
Pn689 Homing Mode Setting Immediately P
[1]Directly search C-Pulse when homing
Pn689.2 Homing trigger starting mode
[0]Homing function disabled
[1]Homing triggered by SHOM signal (rising edge)
Pn689.3 Reserved
Number of error unit：10000P
Pn690 Immediately P
pulses during homing
Number of error
Pn691 Immediately P unit：1P
pulses during homing
Pn700.0 MODBUScommunication baud rate
[0] 4800bps
[1] 9600bps
[2] 19200bps
[3] 38400bps
[4] 57600bps
- 137 -

No. Validation Mode
[5] 115200bps
Pn700.1 MODBUS protocol selection

[6] 8，N，2（MODBUS,RTU）
[7] 8，E，1（MODBUS,RTU）
[8] 8，O，1（MODBUS,RTU）
Pn700.2 Reserved
Pn700.3 Reserved
MODBUSAxis
Pn701 After restart ALL Axis address of MODBUS protocol communication
address
Pn703.0 CAN communication baud rate
[0] 50Kbps
[1] 100Kbps
[2] 125Kbps
CAN communication [3] 250Kbps
Pn703 After restart ALL
speed [4] 500Kbps
[5] 1Mbps
Pn703.1 Reserved
Pn703.2 Reserved
Pn703.3 Reserved
CAN communication
Pn704 After restart ALL CANopen Aix address of communication
contact
32 bit 1st electronic
gear numerator (H)
The parameters are valid,when Pn009.2=1.
32 bit 1st electronic
Pn706 After restart ALL The electronic gear enables the reference pulse to
gear numerator (L)
relate with the servomotor travel distance, so the host
32 bit electronic gear
Pn707 After restart ALL controller doesn't change the mechanical deceleration
denominator (H)
ratio and encoder pulses. In fact, it is the setting of
32 bit electronic gear
Pn708 After restart ALL frequency doubling or frequency division to the
denominator (L)
reference pulses.
32 bit 2nd electronic
Pn709 After restart ALL Numerator(Pn 705 * 10000  Pn 706 or Pn 709 * 10000  Pn 710)
gear numerator (H) Deno min ator(Pn 707 * 10000  Pn 708)
32 bit 2nd electronic
gear numerator (L)
Pn840.0 Encoder model selection
[0] Reserved
[1] Reserved
[2] Reserved
[3] 17 bit absolute encoder
[4] Reserved
- 138 -

No. Validation Mode
[5] Reserved
[6] Wire-saving incremental encoder
[7] Reserved
[8] 20 bit incremental encoder
[9] 20 bit absolute encoder
Pn840.1 Motor designing sequence
[0] EM□-□□□□A
[1] EM□-□□□□B
Pn840.2 Power level of Machine
[0] 200W
[1] 400W
[2] 750W
[3] 1000W
[E] 50W
[F] 100W
Pn840.3Reserved（For factory using）
- 139 -
Appendix B
Alarm Display
Alarm Alarm
Alarm Name Meaning
Display Output
A．01 ╳ Parameter breakdown The checksum results of parameters are abnormal.
The servomotor speed is excessively high and the

A．03 ╳ Overspeed
servomotor is out of control.
The servomotor is operating continuously under a torque
A．04 ╳ Overload
largely exceeding ratings.
A．05 ╳ Position error counteroverflow Internal counter overflow
A．06 ╳ Position error pulse overflow Position error pulse exceededparameter (Pn504)
The setting of electronic gear or

The setting of electronic gear is not reasonable or the
A．07 ╳ given pulse frequency is not
given pulse frequency is too high.
reasonable.
The 1st channel of current
A．08 ╳ Something wrong with the inside chip of the 1st channel.
detection is wrong.
The 2nd channel of current
A．09 ╳ Something wrong with the inside chip of the 2nd channel.
detection is wrong.
At least one of Incremental Encoder PA,PB,PC is broken
A．10 ╳ Incremental Encoder is break off.
off.
A．12 ╳ Overcurrent An overcurrent flowed through the IPM.
Main circuit voltage for servomotor rotation is excessively

A．13 ╳ Overvoltage
high.
Main circuit voltage for servomotor rotation is excessively
A．14 ╳ Undervoltage
low.
A．15 ╳ Bleeder resistor error Bleeder resistor is faulty.
A．16 ╳ Regeneration error Regenerative circuit error
A．20 ╳ Power line phase shortage One phase does not bring into main circuit power supply.
Mechanical stuck or motor power line U phase sequence is

A．25 ╳ Motor power line U over current
wrong
Mechanical stuck or motor power line V phase sequence is
A．26 ╳ Motor power line V over current
wrong
Mechanical stuck or motor power line W phase sequence
A．27 ╳ Motor power line W over current
is wrong
The parameter setting of servo drive does not match the
A．42 ╳ Servomotor type error
servomotor.
- 140 -
Alarm Alarm
Alarm Name Meaning
Display Output
The parameter setting of servo drive does not match the
A．43 ╳ Servo drive type error
servomotor.
Absolute encoder multiturn
A．45 ╳ Absolute encoder multiturn information is faulty.
information error
Absolute encoder multiturn
A．46 ╳ Absolute encoder multiturn information overflow.
information overflow
A．47 ╳ Battery voltage below 2.5V Absolute encoder multiturn information is lost.
A．48 ╳ Battery voltage below 3.1V Battery voltage is too low.
Serial encoder communication Encoder disconnected; encoder signal disturbed; encoder

A．50 ╳
overtime error or encoder decoding circuit error.
Absolute encoder multiturn information may be faulty.
Error reasons：
1.The battery is not connected or the battery voltage is
Absolute encoder overspeed alarm
A．51 ╳ insufficient.
detected
2.The power supply to servo drive is not turned ON when
the battery voltage is normal, or the servomotor running
acceleration is too high due to external reason.
Absolute state of serial encoder
A．52 ╳ Encoder or the encoder decoding circuit is faulty.
error
A．53 ╳ Serial encoder calcaution error Encoder or the encoder decoding circuit is faulty.
Parity bit or end bit in serial encoder Encoder signal is disturbed or the encoder decoding circuit
A．54 ╳
control domain error is faulty.
Serial encoder communication data Encoder signal is disturbed or the encoder decoding circuit
A．55 ╳
checking error is faulty.
End bit in serial encoder control Encoder signal is disturbed or the encoder decoding circuit
A．56 ╳
domain error is faulty.
A．58 ╳ Serial encoder data empty The EEPROM data of serial encoder is empty.
A．59 ╳ Serial encoder data format error The EEPROM data format of serial encoder is incorrect.
CAN communication is faulty because of abnormal

A．66 ╳ CAN communication abnormal
communication connection or disturbance.
A．67 ╳ Receiving heartbeat timeout The master station sends heartbeat time timeout.
CAN Synchronization frame interval The filling time and the cycle of the synchronous frame
A．68 ╳
is too short does not matchor communication is faulty.
CAN Synchronization frame interval The filling time and the cycle of the synchronous frame
A．69 ╳
is too long does not match or communication is faulty.
A．00 〇 Not an error Normal operation status.
〇：Output transistor is ON.

╳：Output transistor is OFF.
- 141 -

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ETS Series AC Servo User's Manual

Date Rev. No. Section Revised Content Remark

2014-12 V1.00 ~ V1.02 -- First edition

2015-09 V1.03 Appendix A Revision: Pn840.2

1.1.2 Revision: Servo drive Model Designation

Revision：6.3 MODBUS communication

2016-04 V1.05 4.4.2 Revision： Pn306、Pn307

Addition:17bit absolute encoder/20bit

Addition: 4.4 Absolute Encoders

Copyright © 2014 ESTUN AUTOMATION TECHNOLOGY CO., LTD

About this manual

•Specification of the servo drives and servomotors.

•Procedures for installing the servo drives and servomotors.

•Procedures for wiring the servo drives and servomotors.

•Procedures for operating of the servo drives.

•Procedures for using the panel operator.

•Ratings and characteristics.

•Those designing ETS series servo drive systems.

•Those installing or wiring ETS series servo drives.

•Those performing trial operation or adjustments of ETS series servo drives.

•Those maintaining or inspecting ETS series servo drives.

■ Do not connect the servomotor directly to the local electrical network.

Failure to observe this may result in damage to servomotor.

■ Do not plug or unplug connectors from servo drivewhen power is on.

■Keep servo drives and other devices separated by at least 10mm.

■Perform noise reduction and grounding properly.

1. Separate high-voltage cables from low-voltage cables.

2. Use cables as short as possible.

■Use a fast-response type ground-fault interrupter.

■ Do not make any extreme adjustments or setting changes of parameters.

■The servomotor cannot be operated by turning the power on and off.

problems.Always start or stop the servomotor by using reference pulses.

About this manual ........................................................................................................................................................... - 2 -

Safety Precautions .......................................................................................................................................................... - 3 -

Checking Products and Parts Names ............................................................................................................................. - 7 -

4.9.4 Machine Rigidity Setting for Online Autotuning .................................................................................... - 84 -

Panel Operator .............................................................................................................................................................. - 88 -

Chapter 6 .................................................................................................................................................................... - 102 -

MODBUS Communication........................................................................................................................................... - 102 -

Chapter 7 .................................................................................................................................................................... - 113 -

Specifications and Characters..................................................................................................................................... - 113 -

Appendix A .................................................................................................................................................................. - 116 -

Parameter ................................................................................................................................................................... - 116 -

Appendix B .................................................................................................................................................................. - 140 -

Alarm Display .............................................................................................................................................................. - 140 -

Checking Products and Parts Names

1.1 Checking Products on Delivery

Check Items Comments

 Servomotor Model Designation

Water proof connector (Incremental

Code Spec. Code Spec.

10 1.0kW P Incremental Wire-saving Type：2500P/R 1 None

【3】Voltage 【5】Designing Sequence 【6】Shaft End

10 1.0kW P Incremental Wire-saving Type:2500P/R 1 None

【3】Voltage 【5】Designing Sequence 【6】Shaft带制动器(DC24V)

 Appearance and Nameplate

1.1.2 Servo drive

 Servo Drive Appearanceand Nameplate